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...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.展开更多
骨骼是乳腺癌、前列腺癌等常见癌症晚期好发的转移部位,癌症骨转移通常伴随剧烈的慢性疼痛症状,严重影响患者的生存质量。随着癌症骨转移的发生,肿瘤微环境在骨组织形成,转移部位成骨细胞和破骨细胞间的平衡被打破,导致一系列疼痛相关...骨骼是乳腺癌、前列腺癌等常见癌症晚期好发的转移部位,癌症骨转移通常伴随剧烈的慢性疼痛症状,严重影响患者的生存质量。随着癌症骨转移的发生,肿瘤微环境在骨组织形成,转移部位成骨细胞和破骨细胞间的平衡被打破,导致一系列疼痛相关分子的释放,从而诱发骨癌痛(bone cancer pain,BCP)。文章对近年来针对BCP分子机制的研究进行了详细的介绍和总结,包括骨质微环境酸化、炎性因子和趋化因子、神经营养蛋白等经典分子机制及近年来研究发现的新型分子机制,还对近年来应用广泛、疗效较好的治疗方法进行了总结,以期为后续研究提供理论依据,为BCP患者制定并实施合理的治疗方案提供参考。展开更多
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘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.
文摘骨骼是乳腺癌、前列腺癌等常见癌症晚期好发的转移部位,癌症骨转移通常伴随剧烈的慢性疼痛症状,严重影响患者的生存质量。随着癌症骨转移的发生,肿瘤微环境在骨组织形成,转移部位成骨细胞和破骨细胞间的平衡被打破,导致一系列疼痛相关分子的释放,从而诱发骨癌痛(bone cancer pain,BCP)。文章对近年来针对BCP分子机制的研究进行了详细的介绍和总结,包括骨质微环境酸化、炎性因子和趋化因子、神经营养蛋白等经典分子机制及近年来研究发现的新型分子机制,还对近年来应用广泛、疗效较好的治疗方法进行了总结,以期为后续研究提供理论依据,为BCP患者制定并实施合理的治疗方案提供参考。
