We present a case of a 56-year-old man with 3 synchronous gastric tumors. The patient presented with melena, and 3 gastric abnormalities were detected on gastroduodenoscopic examination, including a small ulcerative l...We present a case of a 56-year-old man with 3 synchronous gastric tumors. The patient presented with melena, and 3 gastric abnormalities were detected on gastroduodenoscopic examination, including a small ulcerative lesion in the gastric antrum, a submucosal mass in the gastric body, and severe erosion in the fundus. Histological examination of biopsy samples yielded respective diagnoses of gastric adenocarcinoma, gastritis, and mucosa-associated lymphoid tissue(MALT) lymphoma. The patient first received medication to eradicate any underlying Helicobacter pylori infection, which might have been a cause of the MALT lymphoma. Four weeks later, after examination of repeat biopsy samples revealed that the MALT lymphoma had resolved, the patient underwent subtotal gastrectomy. Further histological examination of resected tissue confirmed the antrum lesion as adenocarcinoma and the body lesion as schwannoma. To our knowledge, this is the first reported case of synchronous triple primary gastric adenocarcinoma, MALT lymphoma, and schwannoma.展开更多
The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
Laboratory information management based on the technology of Interact of things technology is the development trend of digital and information technology education in our country and the inevitable choice. Through the...Laboratory information management based on the technology of Interact of things technology is the development trend of digital and information technology education in our country and the inevitable choice. Through the fiLnher study of the current situation of laboratory management in colleges and universities and the characteristics of the Internet of things technology, this paper introduces the concept of Interact of things tec^mology, history and current situation of the development. With the most representative IOT architecture and Ubiquitous ID IOT system as an example, analyzes the RFID technology, sensor network and detection technology, intelligent technology and characteristics of Nanometer technology. Analysis the technical foundation for the development of the campus Interact of things, and give the Internet of things technology in the application of the laboratory management technology.展开更多
Most power transfer studies involve contingencies and multi pattern scenarios that often can only be performed in reasonable time with the use of linear methods. In these works, the effect of reactive power flows in l...Most power transfer studies involve contingencies and multi pattern scenarios that often can only be performed in reasonable time with the use of linear methods. In these works, the effect of reactive power flows in line loading is neglected while formulating the problem for ATC (available transfer capability) calculations. This paper presents the determination of shunt reactive power compensation in the presence of FACTS (flexible AC transmission system) devices like: SSSC (static synchronous series compensator) and UPFC (unified power flow controller) for enhancement of power transfer capability of a power system incorporating the reactive power flows in ATC calculations. In doing so, redistribution of power flow takes place and therefore improves ATC of the system. Studies on a sample 5-bus power system model are carried out to illustrate the effect of shunt compensation along with line flow control.展开更多
AIM: To create a rabbit model of pediatric nonalcoholic steatohepatitis (NASH) and to evaluate the role of adiponectin in the process. METHODS: Thirty-two specific pathogen-free male New Zealand rabbits were divid...AIM: To create a rabbit model of pediatric nonalcoholic steatohepatitis (NASH) and to evaluate the role of adiponectin in the process. METHODS: Thirty-two specific pathogen-free male New Zealand rabbits were divided randomly into three groups: (1) the normal control group (n = 10) was fed with standard diet for 12 wk; (2) the model group A (n = 11); and (3) model group B (n = 11) were fed with a highfat diet (standard diet + 10% lard + 2% cholesterol) for 8 and 12 wk, respectively. Hepatic histological changes were observed and biochemical parameters as well as serum levels of adiponectin, interleukin (IL)-6, IL-10 and tumor necrosis factor (TNF)-α were measured. RESULTS: Typical histological hepatic lesions of NASH were observed in both model groups described as liver steatosis, liver inflammatory infiltration, cytologic ballooning, perisinusoidal fibrosis and overall fibrosis. Compared with the normal control group, there were significant increases in model groups A and B in weight gain (1097.2 ± 72.3, 1360.5± 107.6 vs 928.0 ±58.1, P 〈 0.05, P 〈 0.01), liver weight (93.81±6.64, 104.6±4.42 vs 54.4±1.71, P 〈 0.01), Lg (ALT) (1.9±0.29, 1.84± 0.28 vs 1.60±0.17, P 〈 0.01), and Lg (TG) (1.03 ±0.24, 1.16 ±0.33 vs 0.00 ±0.16, P 〈 0.01). Weight gain was much more in model group B than in model group A (1360.5± 107.6 vs 1097.2 ±72.3, P 〈 0.05). But, there was no significant difference between the two groups concerning the other indexes. Pro-inflammatory cytokines (IL-6 and TNF-α) increased in model group B compared with that of control and model group A (IL-6:1.86±0.21 vs 1.41 ±0.33, 1.38± 0.42, P 〈 0.01; TNF-α: 1.18±0.07 vs 0.66 ±0.08, 0.86 ±0.43, P 〈 0.01, P 〈 0.05), whereas serum adiponectin and IL-10 decreased in model groups compared with that in the control (adiponectin: A: 21.87±4.84 and B: 21.48 ±4.60 vs 27.36 ±7.29, P 〈 0.05. IL-10: A: 1.72± 0.38 and B: 1.83 ±0.39 vs 2.26±0.24, P 〈 0.01). Lg (TC) and the degree of liver fatty infiltration was an independent determinant of serum adiponectin level analyzed by stepwise multiple regressions, resulting in 29.4% of variances. CONCLUSION: This rabbit model produces the key features of pediatric NASH and may provide a realistic model for future studies. Adiponectin level partially reflects the severity of liver steatosis, but not the degree of liver inflammation.展开更多
This paper reported a 25-year-old hospitalized woman complained of recurrent chest tightness and dyspnea for 3 months.The electrocardiogram showed pre-excitation and the echocardiogram showed left ventricular wall con...This paper reported a 25-year-old hospitalized woman complained of recurrent chest tightness and dyspnea for 3 months.The electrocardiogram showed pre-excitation and the echocardiogram showed left ventricular wall contraction reduced diffusely and moved asynchronously.In the systolic period,the regional septum basal segment moved to the right ventricle like an aneurysm.In cardiac magnetic resonance imaging examination,there was no significant myocardial fibrosis.The patient further had an endomyocardial biopsy and pathological examination showed nonspecific changes,only with mild interstitial edema.After an electrophysiological study,the patient was finally diagnosed with pre-excitation cardiomyopathy with a right anteroseptal para-hisian manifest accessory pathway.Radiofrequency catheter ablation was then performed to block the advanced pathway.6 months after ablation,the left ventricular systolic function and synchrony improved significantly,and the symptoms were alleviated.展开更多
Chemical synaptic couplings are more common than electric(gap junction) connections in neurons.In this paper,the firing synchronizations induced by chemical synaptic coupling in chemically delayed scale-free networks ...Chemical synaptic couplings are more common than electric(gap junction) connections in neurons.In this paper,the firing synchronizations induced by chemical synaptic coupling in chemically delayed scale-free networks of modified Hodgkin-Huxley neurons have been studied.It was found that the chemical coupling-induced synchronization transitions are delay-dependent and much different for various delay lengths.In the absence of delay,the neurons exhibit a transition from chaotic bursting(CB) to bursting synchronization(BS) with desynchronized spikes in each burst;for smaller delay lengths,the firing evolves from CB to spiking synchronization(SS),but for larger delay lengths,there are transitions from CB to intermittently multiple SS behaviors.These findings show that the chemical coupling-induced firing synchronization transitions strongly depend on the chemical delay lengths,and intermittently multiple SS can only occur for larger delay lengths.This result would be helpful for better understanding the joint roles of the chemical coupling and chemical delay in the firing activity of the neurons.展开更多
Efficient tandem reactions on a single catalytic nanostructure would be beneficial to improving chemical transformation efficiency and reducing safety implications. It is imperative to identify the active sites for ea...Efficient tandem reactions on a single catalytic nanostructure would be beneficial to improving chemical transformation efficiency and reducing safety implications. It is imperative to identify the active sites for each single step reaction so that the entire reaction process can be optimized by designing and integrating the sites. Herein, hydrogen transfer reaction is taken as a proof-of-concept demonstration to show that the spatial integration of active sites is important to the catalytic efficiency of the entire process in tandem reactions. We identified specific active sites (i.e., various sites at faces versus corners and edges) for formic acid decomposition and alkene/nitrobenzene hydrogenation-the two steps in hydrogen transfer reactions, by employing three different shapes of Pd nanocrystals in tunable sizes. The investigation reveals that the decomposition of formic acid occurs preferentially at the edge sites of cubic nanocrystal and the plane sites of octahedral/ tetrahedral nanocrystals, while the hydrogenation takes place mainly at the edge sites of both cubic and octahedral/ tetrahedral nanocrystals. The consistency of active edge sites during different step reactions enables cubic nanocrystals to exhibit a higher activity than octahedral nanocrystals in hydrogen transfer reactions, although octahedrons offer comparable activities to cubes in formic acid decomposition and hydrogenation reactions. Guided by these findings, we further improved the overall performance of tandem catalysis by specifically promoting the limiting step through nanocatalyst design. This work provides insights into the rational design of heterogeneous nanocatalysts in tandem reactions.展开更多
Internet search giant Baidu won a second-level prize at the China 2015 National Science and Technology Awards for its technological advancement of machine translation in early January.
The aim of this study was to establish a method for discriminating Dendrobium officinale from four of its close relatives Den- drobium chrysanthum, Dendrobium erystallinum, Dendrobium aphyllum and Dendrobium devonianu...The aim of this study was to establish a method for discriminating Dendrobium officinale from four of its close relatives Den- drobium chrysanthum, Dendrobium erystallinum, Dendrobium aphyllum and Dendrobium devonianum based on chemical composition analysis. We analyzed 62 samples of 24 Dendrobium species. High performance liquid chromatography analysis confirmed that the four low molecular weight compounds 4',5,7-trihydroxyflavanone (naringenin), 3,4-dihydroxy-4',5-dime- tboxybibenzyl (DDB^2), 3',4-dihydroxy-3,5'-dimethoxybibenzyl (gigantol), and 4,4'-dihydroxy-3,3',5-trimethoxybibenzyl (moscatilin), were common in the genus. The phenol-sulfuric acid method was used to quantify polysaccharides, and the mon- osaccharide composition of the polysaccharides was determined by gas chromatography. Stepwise discriminant analysis was used to differentiate among the five closely related species based on the chemical composition analysis. This proved to be a simple and accurate approach for discriminating among these species. The results also showed that the polysaccharide content, the amounts of the four low molecular weight compounds, and the mannose to glucose ratio, were important factors for species discriminaut. Therefore, we propose that a chemical analysis based on quantification of naringenin, bibenzyl, and polysaccha- rides is effective for identifying D. officinale.展开更多
As the conventional reciprocating gait orthosis(RGO)has been deemed incapable of facilitating the patients’passive movement with significant gait discrepancies and distortion,in addition to characteristics such as po...As the conventional reciprocating gait orthosis(RGO)has been deemed incapable of facilitating the patients’passive movement with significant gait discrepancies and distortion,in addition to characteristics such as poor stability,and negligible knee joint rehabilitation,a power assisted reciprocating gait orthosis(PARGO)was designed.Drive devices were added to the hip and knee joints of the RGO.Through efficient implementation of structural components,the number of the required motors was reduced,therefore decreasing the weight of the orthosis.The PARGO knee joint’s structural principle was analyzed to characterize the effect of the PARGO’s single-axis knee joint design on wear comfort,thereby providing a basis for the wear of the PARGO.By analyzing the sagittal movement patterns of the hip and knee joints during normal human gait,kinematic analysis was carried out to obtain the input patterns of the PARGO hip and knee joint drive motors,enabling the patients to more accurately reproduce the normal gaits of hip and knee joints during the rehabilitation training with the aid of the PARGO,and the control process of the PARGO was studied.Finally,a prototype of the PARGO was developed,and experimentation was carried out to demonstrate the feasibility of the improved orthosis.展开更多
文摘We present a case of a 56-year-old man with 3 synchronous gastric tumors. The patient presented with melena, and 3 gastric abnormalities were detected on gastroduodenoscopic examination, including a small ulcerative lesion in the gastric antrum, a submucosal mass in the gastric body, and severe erosion in the fundus. Histological examination of biopsy samples yielded respective diagnoses of gastric adenocarcinoma, gastritis, and mucosa-associated lymphoid tissue(MALT) lymphoma. The patient first received medication to eradicate any underlying Helicobacter pylori infection, which might have been a cause of the MALT lymphoma. Four weeks later, after examination of repeat biopsy samples revealed that the MALT lymphoma had resolved, the patient underwent subtotal gastrectomy. Further histological examination of resected tissue confirmed the antrum lesion as adenocarcinoma and the body lesion as schwannoma. To our knowledge, this is the first reported case of synchronous triple primary gastric adenocarcinoma, MALT lymphoma, and schwannoma.
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
文摘Laboratory information management based on the technology of Interact of things technology is the development trend of digital and information technology education in our country and the inevitable choice. Through the fiLnher study of the current situation of laboratory management in colleges and universities and the characteristics of the Internet of things technology, this paper introduces the concept of Interact of things tec^mology, history and current situation of the development. With the most representative IOT architecture and Ubiquitous ID IOT system as an example, analyzes the RFID technology, sensor network and detection technology, intelligent technology and characteristics of Nanometer technology. Analysis the technical foundation for the development of the campus Interact of things, and give the Internet of things technology in the application of the laboratory management technology.
文摘Most power transfer studies involve contingencies and multi pattern scenarios that often can only be performed in reasonable time with the use of linear methods. In these works, the effect of reactive power flows in line loading is neglected while formulating the problem for ATC (available transfer capability) calculations. This paper presents the determination of shunt reactive power compensation in the presence of FACTS (flexible AC transmission system) devices like: SSSC (static synchronous series compensator) and UPFC (unified power flow controller) for enhancement of power transfer capability of a power system incorporating the reactive power flows in ATC calculations. In doing so, redistribution of power flow takes place and therefore improves ATC of the system. Studies on a sample 5-bus power system model are carried out to illustrate the effect of shunt compensation along with line flow control.
基金Supported by The funds for programs of Zhejiang Provincial Natural Science, No.Y2080047Major Programs of Zhejiang Provincial Medical and Health Science and Technology & Chinese Ministry of Health, No.WKJ2008-2-026Special Major Programs of Zhejiang Provincial Science and Technology, No. 2008c03002-1
文摘AIM: To create a rabbit model of pediatric nonalcoholic steatohepatitis (NASH) and to evaluate the role of adiponectin in the process. METHODS: Thirty-two specific pathogen-free male New Zealand rabbits were divided randomly into three groups: (1) the normal control group (n = 10) was fed with standard diet for 12 wk; (2) the model group A (n = 11); and (3) model group B (n = 11) were fed with a highfat diet (standard diet + 10% lard + 2% cholesterol) for 8 and 12 wk, respectively. Hepatic histological changes were observed and biochemical parameters as well as serum levels of adiponectin, interleukin (IL)-6, IL-10 and tumor necrosis factor (TNF)-α were measured. RESULTS: Typical histological hepatic lesions of NASH were observed in both model groups described as liver steatosis, liver inflammatory infiltration, cytologic ballooning, perisinusoidal fibrosis and overall fibrosis. Compared with the normal control group, there were significant increases in model groups A and B in weight gain (1097.2 ± 72.3, 1360.5± 107.6 vs 928.0 ±58.1, P 〈 0.05, P 〈 0.01), liver weight (93.81±6.64, 104.6±4.42 vs 54.4±1.71, P 〈 0.01), Lg (ALT) (1.9±0.29, 1.84± 0.28 vs 1.60±0.17, P 〈 0.01), and Lg (TG) (1.03 ±0.24, 1.16 ±0.33 vs 0.00 ±0.16, P 〈 0.01). Weight gain was much more in model group B than in model group A (1360.5± 107.6 vs 1097.2 ±72.3, P 〈 0.05). But, there was no significant difference between the two groups concerning the other indexes. Pro-inflammatory cytokines (IL-6 and TNF-α) increased in model group B compared with that of control and model group A (IL-6:1.86±0.21 vs 1.41 ±0.33, 1.38± 0.42, P 〈 0.01; TNF-α: 1.18±0.07 vs 0.66 ±0.08, 0.86 ±0.43, P 〈 0.01, P 〈 0.05), whereas serum adiponectin and IL-10 decreased in model groups compared with that in the control (adiponectin: A: 21.87±4.84 and B: 21.48 ±4.60 vs 27.36 ±7.29, P 〈 0.05. IL-10: A: 1.72± 0.38 and B: 1.83 ±0.39 vs 2.26±0.24, P 〈 0.01). Lg (TC) and the degree of liver fatty infiltration was an independent determinant of serum adiponectin level analyzed by stepwise multiple regressions, resulting in 29.4% of variances. CONCLUSION: This rabbit model produces the key features of pediatric NASH and may provide a realistic model for future studies. Adiponectin level partially reflects the severity of liver steatosis, but not the degree of liver inflammation.
文摘This paper reported a 25-year-old hospitalized woman complained of recurrent chest tightness and dyspnea for 3 months.The electrocardiogram showed pre-excitation and the echocardiogram showed left ventricular wall contraction reduced diffusely and moved asynchronously.In the systolic period,the regional septum basal segment moved to the right ventricle like an aneurysm.In cardiac magnetic resonance imaging examination,there was no significant myocardial fibrosis.The patient further had an endomyocardial biopsy and pathological examination showed nonspecific changes,only with mild interstitial edema.After an electrophysiological study,the patient was finally diagnosed with pre-excitation cardiomyopathy with a right anteroseptal para-hisian manifest accessory pathway.Radiofrequency catheter ablation was then performed to block the advanced pathway.6 months after ablation,the left ventricular systolic function and synchrony improved significantly,and the symptoms were alleviated.
基金supported by the Natural Science Foundation of Shandong Province of China (ZR2009AM016)
文摘Chemical synaptic couplings are more common than electric(gap junction) connections in neurons.In this paper,the firing synchronizations induced by chemical synaptic coupling in chemically delayed scale-free networks of modified Hodgkin-Huxley neurons have been studied.It was found that the chemical coupling-induced synchronization transitions are delay-dependent and much different for various delay lengths.In the absence of delay,the neurons exhibit a transition from chaotic bursting(CB) to bursting synchronization(BS) with desynchronized spikes in each burst;for smaller delay lengths,the firing evolves from CB to spiking synchronization(SS),but for larger delay lengths,there are transitions from CB to intermittently multiple SS behaviors.These findings show that the chemical coupling-induced firing synchronization transitions strongly depend on the chemical delay lengths,and intermittently multiple SS can only occur for larger delay lengths.This result would be helpful for better understanding the joint roles of the chemical coupling and chemical delay in the firing activity of the neurons.
基金financially supported in part by the National Key R&D Program of China(2017YFA0207301)the Nation Natural Science Foundation of China(21725102,U1832156,21601173,21890751 and 21803002)+4 种基金CAS Key Research Program of Frontier Sciences(QYZDB-SSW-SLH018)CAS Interdisciplinary Innovation Teamthe Ministry of Science and Technology of China(2016YFA0200602 and 2018YFA0208603)the Chinese Universities Scientific Fund(WK2310000067)the support from USTC Center for the Micro- and Nanoscale Research and Fabrication
文摘Efficient tandem reactions on a single catalytic nanostructure would be beneficial to improving chemical transformation efficiency and reducing safety implications. It is imperative to identify the active sites for each single step reaction so that the entire reaction process can be optimized by designing and integrating the sites. Herein, hydrogen transfer reaction is taken as a proof-of-concept demonstration to show that the spatial integration of active sites is important to the catalytic efficiency of the entire process in tandem reactions. We identified specific active sites (i.e., various sites at faces versus corners and edges) for formic acid decomposition and alkene/nitrobenzene hydrogenation-the two steps in hydrogen transfer reactions, by employing three different shapes of Pd nanocrystals in tunable sizes. The investigation reveals that the decomposition of formic acid occurs preferentially at the edge sites of cubic nanocrystal and the plane sites of octahedral/ tetrahedral nanocrystals, while the hydrogenation takes place mainly at the edge sites of both cubic and octahedral/ tetrahedral nanocrystals. The consistency of active edge sites during different step reactions enables cubic nanocrystals to exhibit a higher activity than octahedral nanocrystals in hydrogen transfer reactions, although octahedrons offer comparable activities to cubes in formic acid decomposition and hydrogenation reactions. Guided by these findings, we further improved the overall performance of tandem catalysis by specifically promoting the limiting step through nanocatalyst design. This work provides insights into the rational design of heterogeneous nanocatalysts in tandem reactions.
文摘Internet search giant Baidu won a second-level prize at the China 2015 National Science and Technology Awards for its technological advancement of machine translation in early January.
基金supported by the National Natural Science Foundation of China (Grant Nos. 30830117 and 31170016) the Major Scientific and Technological Special Project for Significant New Drugs Creation (Grant No. 2012ZX09301002-001-031)
文摘The aim of this study was to establish a method for discriminating Dendrobium officinale from four of its close relatives Den- drobium chrysanthum, Dendrobium erystallinum, Dendrobium aphyllum and Dendrobium devonianum based on chemical composition analysis. We analyzed 62 samples of 24 Dendrobium species. High performance liquid chromatography analysis confirmed that the four low molecular weight compounds 4',5,7-trihydroxyflavanone (naringenin), 3,4-dihydroxy-4',5-dime- tboxybibenzyl (DDB^2), 3',4-dihydroxy-3,5'-dimethoxybibenzyl (gigantol), and 4,4'-dihydroxy-3,3',5-trimethoxybibenzyl (moscatilin), were common in the genus. The phenol-sulfuric acid method was used to quantify polysaccharides, and the mon- osaccharide composition of the polysaccharides was determined by gas chromatography. Stepwise discriminant analysis was used to differentiate among the five closely related species based on the chemical composition analysis. This proved to be a simple and accurate approach for discriminating among these species. The results also showed that the polysaccharide content, the amounts of the four low molecular weight compounds, and the mannose to glucose ratio, were important factors for species discriminaut. Therefore, we propose that a chemical analysis based on quantification of naringenin, bibenzyl, and polysaccha- rides is effective for identifying D. officinale.
基金The Research Foundation for Key Program of Beijing(Grant No.D141100003614001)
文摘As the conventional reciprocating gait orthosis(RGO)has been deemed incapable of facilitating the patients’passive movement with significant gait discrepancies and distortion,in addition to characteristics such as poor stability,and negligible knee joint rehabilitation,a power assisted reciprocating gait orthosis(PARGO)was designed.Drive devices were added to the hip and knee joints of the RGO.Through efficient implementation of structural components,the number of the required motors was reduced,therefore decreasing the weight of the orthosis.The PARGO knee joint’s structural principle was analyzed to characterize the effect of the PARGO’s single-axis knee joint design on wear comfort,thereby providing a basis for the wear of the PARGO.By analyzing the sagittal movement patterns of the hip and knee joints during normal human gait,kinematic analysis was carried out to obtain the input patterns of the PARGO hip and knee joint drive motors,enabling the patients to more accurately reproduce the normal gaits of hip and knee joints during the rehabilitation training with the aid of the PARGO,and the control process of the PARGO was studied.Finally,a prototype of the PARGO was developed,and experimentation was carried out to demonstrate the feasibility of the improved orthosis.