KNOT POINT PLANNING FOR CARTESIAN TRAJECTORY GENERATION BASED ON INHERITANCE BISECTION ALGORITHM

The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is proposed. IBA has two steps. The first step is the 1 stknot point planning under lower set position accuracy; the second step is the 2nd knot pointplanning that inherits the results of the 1st planning under higher set position accuracy. Thesimulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA isdecreased compared with BA. IBA is more efficient to plan knot points.

Distribution Characteristics of Meridian Sinew(Jingjin) Syndrome in 313 Cases of Whiplash-Associated Disorders

Objective：To investigate and analyze the characteristics of Meridian Sinew（Jingjin） syndrome in patients with whiplash-associated disorders（WAD）.Methods：From August 2010 to September 2011,313 WAD cases from New York and California states were collected.The survey mostly collects the information of ＂Sinew Knotted Points＂ and symptoms of four types of Meridian Sinew differentiation—Taiyang,Shaoyin,Shaoyang and Yangming.Results：Among the cases which are on the average of medium injury level,the higher frequency of ＂Sinew Knotted Points＂ tenderness were found on Jianwaishu（SI 14）,Jianzhongshu（SI 15）,Tianchuang（SI 16）,C3-6 Spinous Process,Dazhui（GV 14）,Fengchi（GB 20）,Tianliao（SJ 15） and Tianding（LI 17）.The most commonly presented symptoms were widespread spasm and tenderness in the neck（Taiyang）,difficulty in lateral flexion（Shaoyang）,problems of extension and flexion（Taiyang）,and stiffness and pain during neck movement（Yangming）.Among the cases,237 cases（75.72%） were related to Taiyang Meridian Sinew syndrome,82 cases（26.20%） to Shaoyin syndrome and 175（55.91%） and176（56.23%） cases to Shaoyang and Yangming syndrome respectively.The most of cases presented in a combination format.The syndrome distribution under Grade Ⅰ,Ⅱ and Ⅲ reflected that more combination of the Meridian Sinew syndromes in the whiplash injury patients which is resulted from more severity of injury.Conclusion：It is practical to identify the location of abnormality through Meridian Sinew differentiation,considering both ＂Sinew Knotted Points＂ tenderness and corresponding symptoms,for the local neck symptoms of WAD.