In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and ac...In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.展开更多
目的探讨关节镜下治疗不同肩肱距离(acromiohumeral distance,AHD)的大型和巨大肩袖撕裂的临床疗效。方法回顾性分析2018年1月至2022年6月于徐州医科大学附属医院骨科接受关节镜治疗的125例大型和巨大肩袖撕裂患者的临床资料。根据AHD...目的探讨关节镜下治疗不同肩肱距离(acromiohumeral distance,AHD)的大型和巨大肩袖撕裂的临床疗效。方法回顾性分析2018年1月至2022年6月于徐州医科大学附属医院骨科接受关节镜治疗的125例大型和巨大肩袖撕裂患者的临床资料。根据AHD不同分为2组,AHD≥7 mm患者69例(AHD正常组),AHD<7 mm患者56例(AHD减小组)。比较2组患者术前和术后1年疼痛视觉模拟评分(vsual analogue score,VAS)、Constant-Murley评分、美国加州大学洛杉矶分校肩关节评分(University of California at Los Angeles Shoulder Scores,UCLA)、美国肩肘外科医师学会评分(American Shoulder and Elbow Surgeons,ASES)和肩关节活动度,并进行统计学分析。术后1年根据肩关节MRI影像学Sugaya分型标准评估肩袖愈合情况,比较2组术后肩袖再撕裂发生率。结果2组患者的AHD值比较差异有统计学意义(P<0.05);其他一般资料比较,差异均无统计学意义(均P>0.05)。术后1年时,2组患者的肩关节活动度较术前均有明显改善,差异有统计学意义(P<0.05)。AHD正常组的肩关节活动度(前屈、外展、体侧外旋)优于AHD减小组(均P<0.05)。术后1年,2组的VAS、Constant-Murley、UCLA、ASES评分较术前均有明显改善,差异有统计学意义(均P<0.05)。AHD正常组的VAS、Constant-Murley、UCLA、ASES评分均优于AHD减小组(均P<0.05)。术后1年时复查MRI,AHD正常组再撕裂率为13.0%(9/69),AHD减小组再撕裂率为30.4%(17/56),差异有统计学意义(P=0.018)。结论对于大型和巨大肩袖撕裂患者,AHD正常者比AHD减小者肩袖修复术后疼痛缓解更明显,肩关节功能更好,肩袖再撕裂发生率更低。AHD可以作为大型和巨大肩袖撕裂修复术后临床疗效的一个预测指标。展开更多
针对高速旋转设备分布式测量需求,设计了一种单通道光纤旋转连接器(FROJ),并进行了性能测试。以此单通道FROJ为基础,采用磁光开关通过时分复用方式设计了四通道FROJ,在静态和动态条件下分别测试了其插入损耗。实验结果表明:该四通道FRO...针对高速旋转设备分布式测量需求,设计了一种单通道光纤旋转连接器(FROJ),并进行了性能测试。以此单通道FROJ为基础,采用磁光开关通过时分复用方式设计了四通道FROJ,在静态和动态条件下分别测试了其插入损耗。实验结果表明:该四通道FROJ的插入损耗小于4.5 d B,旋转变化量小于2 d B,在转速不超过600 r/min时可以实现光信号的可靠传输。展开更多
基金Project(81473694)supported by the National Natural Science Foundation of ChinaProject(2016A1027)supported by the major Project of Zhongshan City,ChinaProject(2016FZFC007)supported by the Intelligent Equipment and Technology of Automation Research and Development Platform,China
文摘In order to guarantee safety and stability during physical human-robot-interaction(p HRI) in the occasion of service or industrial operation, a serial integrated rotary joint with the characteristics of passive and active compliance is proposed. Passive compliance is achieved by a designed elastic element, such that the compliant joint may minimize large force which occurs during accidental impacts and, further, may offer more accurate and stable force control and a capacity for energy storage. Meanwhile, the modeling of the compliant joint is comprehensively analyzed, including the effect of the motor model on the overall control system. In order to realize the active compliance, a new method of impedance control is proposed. On the basis of PD control, a more compliant impedance controller is introduced. Experimental results show that the serial integrated rotary joint can provide more effective safety compliance during physical interaction, which has also been well applied in our designed massage robot and rehabilitation robot.
文摘目的探讨关节镜下治疗不同肩肱距离(acromiohumeral distance,AHD)的大型和巨大肩袖撕裂的临床疗效。方法回顾性分析2018年1月至2022年6月于徐州医科大学附属医院骨科接受关节镜治疗的125例大型和巨大肩袖撕裂患者的临床资料。根据AHD不同分为2组,AHD≥7 mm患者69例(AHD正常组),AHD<7 mm患者56例(AHD减小组)。比较2组患者术前和术后1年疼痛视觉模拟评分(vsual analogue score,VAS)、Constant-Murley评分、美国加州大学洛杉矶分校肩关节评分(University of California at Los Angeles Shoulder Scores,UCLA)、美国肩肘外科医师学会评分(American Shoulder and Elbow Surgeons,ASES)和肩关节活动度,并进行统计学分析。术后1年根据肩关节MRI影像学Sugaya分型标准评估肩袖愈合情况,比较2组术后肩袖再撕裂发生率。结果2组患者的AHD值比较差异有统计学意义(P<0.05);其他一般资料比较,差异均无统计学意义(均P>0.05)。术后1年时,2组患者的肩关节活动度较术前均有明显改善,差异有统计学意义(P<0.05)。AHD正常组的肩关节活动度(前屈、外展、体侧外旋)优于AHD减小组(均P<0.05)。术后1年,2组的VAS、Constant-Murley、UCLA、ASES评分较术前均有明显改善,差异有统计学意义(均P<0.05)。AHD正常组的VAS、Constant-Murley、UCLA、ASES评分均优于AHD减小组(均P<0.05)。术后1年时复查MRI,AHD正常组再撕裂率为13.0%(9/69),AHD减小组再撕裂率为30.4%(17/56),差异有统计学意义(P=0.018)。结论对于大型和巨大肩袖撕裂患者,AHD正常者比AHD减小者肩袖修复术后疼痛缓解更明显,肩关节功能更好,肩袖再撕裂发生率更低。AHD可以作为大型和巨大肩袖撕裂修复术后临床疗效的一个预测指标。
文摘针对高速旋转设备分布式测量需求,设计了一种单通道光纤旋转连接器(FROJ),并进行了性能测试。以此单通道FROJ为基础,采用磁光开关通过时分复用方式设计了四通道FROJ,在静态和动态条件下分别测试了其插入损耗。实验结果表明:该四通道FROJ的插入损耗小于4.5 d B,旋转变化量小于2 d B,在转速不超过600 r/min时可以实现光信号的可靠传输。
