A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System

In order to improve the elderly people's quality of life,supporting their walking behaviors is a promising technology.Therefore,based on one ultrasonic motor,a wire-driven series elastic mechanism for walking assistive system is proposed and investigated in this research.In contrast to tradition,it innovatively utilizes an ultrasonic motor and a wire-driven series elastic mechanism to achieve superior system performances in aspects of simple structure,high torque/weight ratio,quiet operation,quick response,favorable electromagnetic compatibility,strong shock resistance,better safety,and accurately stable force control.The proposed device is mainly composed of an ultrasonic motor,a linear spring,a steel wire,four pulleys and one rotating part.To overcome the ultrasonic motor's insufficient output torque,a steel wire and pulleys are smartly combined to directly magnify the torque instead of using a conventional gear reducer.Among the pulleys,there is one tailored pulley playing an important role to keep the reduction ratio as 4.5 constantly.Meanwhile,the prototype is manufactured and its actual performance is verified by experimental results.In a one-second operating cycle,it only takes 86 ms for this mechanism to output an assistive torque of 1.6 N·m.At this torque,the ultrasonic motor's speed is around 4.1 rad/s.Moreover,experiments with different operation periods have been conducted for different application scenarios.This study provides a useful idea for the application of ultrasonic motor in walking assistance system.

人眼直肌Pulley与直肌肌肉纤维毗邻关系的研究

目的研究人眼直肌Pulley与直肌肌肉纤维的毗邻关系。方法选取5例新鲜尸体眼眶,整体固定包埋后行全眼眶连续冠状切片(4μm)。相邻层面经Masson特殊染色后,在光镜下观察每个层面Pulley及直肌肌肉纤维的组织结构,并用MIAS-2000显微图像分析系统定量。结果各直肌肌肉纤维由眶层和球层组成,球层肌肉纤维穿过Pulley以肌腱的形式止于眼球,而眶层肌肉纤维则止于各自的Pulley。在光镜下,测得眼眶中部内直肌的肌肉纤维数目(15813.0±386.8)最多,其他3组直肌肌肉纤维数目(分别为:14855.0±529.0、12132.0±181.6、14222.0±105.8)较少,差异有统计学意义(P<0.05)。结论人眼直肌Pulley与眶层肌肉纤维的融合为其成为直肌的功能性起点提供了组织学和解剖学基础。

人眼直肌Pulley系统胶原成分的实验研究

目的研究人眼直肌Pulley系统胶原的组成成分及分布特点。方法选取5个新鲜尸体眼眶,整体固定包埋,进行全眼眶连续冠状切片(4μm)。相邻层面经苦味酸-天狼星红染色后,在偏振光显微镜下观察4条直肌Pulley及Pulley连接带(Pulleyband,PB)的胶原组成及分布特点,并用MIAS-2000显微图像分析系统定量分析。结果偏振光显微镜下可见4条直肌Pulley及PB中含有大量黄红色的Ⅰ型胶原纤维及少量绿色的Ⅲ型胶原纤维。经图像分析,内直肌组Pulley中Ⅰ型胶原含量最高,内直肌-下直肌组PBⅢ型胶原含量最高,明显高于其他组,各组间差别有显著性(P<0.05)。结论与力学特性密切相关的Ⅰ型胶原纤维及Ⅲ型胶原纤维作为眼直肌Pulley及PB胶原的主要组织成分,对眼球在功能眼位维持双眼视功能意义重大。

动态Pulley结构机制的研究进展

动态Pulley结构机制的提出是一个革命性的变化,集多种现代科研方法于一身,使人们对眼眶解剖、眼球运动机制有了更进一步的认识,并对临床诊疗实践提供了新的理论基础。但是动态Pulley结构机制本身并不完善,许多相关问题还需进一步探讨。

眼外肌Pulley的研究进展

近年来 ,通过影像学及眼眶的组织学研究证实在眼球赤道部附近有一个由胶原、弹性蛋白和平滑肌构成的 pulley。Pulley作为眼外肌的功能性起点决定着直肌作用力的方向和大小。本文就 pul ley的提出、组织结构、位置及对于非共同性斜视的意义等作一综述。

眼外肌Pulley研究进展及分析

随着影像学、形态学、计算机等多学科在眼科的应用,眼外肌Pulley得以被发现并被应用于临床研究。眼外肌Pul-ley的应用使临床眼球运动Listing法则,前庭眼反射及双眼集合运动理论得到了较为全面的解释。在众多学科的研究基础上,眼外肌Pulley对某些复杂斜视的发病机制有了新的解释并对其临床治疗提供了新的手术方法。

关于眼外肌Pulley的研究

随着科学的进步,影像学得到空前的发展。应用此技术研究发现了眼外直肌的眶层,提出了即"滑车"机制的新的眼球运动模型,有助于提高对眼外肌运动障碍的病因学的理解,并由此确定有效的手术方法,具有重要的临床指导价值。现将这一领域的研究进展作一综述。

CAD Approach for V-Groove Pulley Transmission

According to the requirements of designing V-groove pulley transmission, an application development based on AutoCAD environment and using AutoLISP language is presented. As an example of effective solution for CAD application, the CAD system for V-groove pulley transmission is established.

Structure design and rice threshing performance of the variable-speed inertial pulley for simulating artificial threshing

Due to the small models and compact structures,small harvesters have also caused problems such as poor threshing separation performance and large loss rates.In order to solve unstable cleaning effects of small harvesters when they facing different working conditions,this study selected rice plants in hilly areas for the experiment.Tensile breaking force of different parts of mature rice was tested,which revealed the fracture mechanism of each part under the combined force.Inertial threshing method was used to simulate artificial plate bin and design three kinds of non-circular pulley variable speed transmission threshing mechanism.With the help of transient inertia force,threshing force was compensated.This paper tested the harvesting performance of the variable speed threshing device with the help of the harvest performance test.Results show when facing the small rice planting area,the T/2 variable speed threshing device has better cleaning performance,and also the harvest loss rate of T/4 variable speed threshing device is the lowest.Compared with the constant speed threshing device,the impurity content rate of the variable speed threshing device is increased by 0.64%to 8.76%;the loss rate is reduced by 0.45%to 1.79%,which provides a basis for the optimization design of small combine harvester in hilly areas.

猕猴眼外肌周围结缔组织结构及功能的研究

目的研究灵长类动物眼外肌周围结缔组织形态特点,分析探讨眼外肌Pulley对眼球运动及高级视功能的作用。方法分离成年猕猴眼眶;取新鲜内直肌与下直肌间结缔组织行电镜观察;完整眼眶行全眶冠状连续切片。以Masson、Weigert染色分别进行胶原、弹性纤维染色,以抗体标记平滑肌。结果猕猴直肌眶层纤维与周围结缔组织相互移行。在赤道部稍后方,主要以胶原纤维组成的结缔组织包绕,连接眼外肌,弹性纤维、平滑肌散在其中。内直肌及其与下直肌间的结缔组织最发达;平滑肌与弹性纤维呈明显的带状分布。结论猕猴眼外肌周围结缔组织的分布特征提示眼外肌Pulley对眼球运动具有重要作用。这一结构与人类同名结构的高度相似性,提示猕猴可以作为研究眼外肌Pulley的实验动物。

大鼠上斜肌周围结缔组织的结构与功能关系的研究

目的观察双侧外置眼大鼠斜肌周围结缔组织结构,探讨其结构对眼球运动尤其是前庭眼反射的作用。方法新鲜成年大鼠5只10眼眶,整体固定,所有大鼠左眼眶进行大体解剖;右眼眶进行石蜡包埋,冠状位连续切片,相邻切片以Masson三染色进行胶原纤维和弹力纤维染色。结果上斜肌(SO)着色为红色,结缔组织染为蓝色。大鼠SO亦分为球、眶两层肌纤维,其球层前行附着于巩膜,而眶层附着于其周围结缔组织。此结缔组织主要由胶原和少量弹性纤维组成,随SO向前行走而逐渐增厚直至滑车处。后随着SO反折过滑车部位,与SRPulley环相延续。结论大鼠上斜肌周围结缔组织与SRPulley环相延续,并接受SO眶层纤维的附着,提示其收缩将引起SR的鼻侧移动,可能进一步解释了前庭眼反射(包括人类前庭眼反射)的部分运动机制。

兔直肌周围结缔组织结构观察与功能分析

背景 灵长类动物眼外肌周围的纤维弹性环结构（Pulley）与眼外肌的功能活动密切相关,但这一观点尚存在争议.观察双眼位置明显不同于灵长类动物的兔眼外肌周围结缔组织结构对分析Pully与眼球运动关系有一定的帮助. 目的 观察兔眼外肌周围结缔组织结构,分析其与以往报道的人类相同组织结构的异同,探讨这一结构与眼球运动的关系.方法 盐酸氯胺酮麻醉成年兔5只,将所有眼眶整体分离固定,每只兔任选一侧眼眶行大体解剖,另一侧眼眶行全眶冠状位连续切片,相邻切片以Weigert染色、Masson三色染色法分别进行弹性纤维和胶原纤维染色,并以小鼠抗兔α-平滑肌肌动蛋白（α-SMA）抗体标记平滑肌进行观察. 结果 胶原纤维环于兔眼球赤道部附近包绕眼外肌.胶原纤维比较菲薄且与眼直肌纤维的联系很疏松,直肌间连接带亦较菲薄.少量弹性纤维及极少量平滑肌细胞散在分布于胶原纤维中.结论 兔直肌周围结缔组织与以往报道的人类直肌周围结缔组织有明显差异,提示眼外肌周围结缔组织与眼球运动功能可能存在一定关系.

猫眼外肌周围结缔组织结构分析

背景眼外肌周围的结缔组织成分对眼外肌的功能活动密切相关，猫的双眼位置与灵长类相似，但猫眼外肌的Pully结构与灵长类动物Pully结构和功能的异同尚不清楚，相关的研究结果对推测Pully结构与功能的关系有一定的帮助。目的观察猫的眼外肌周围结缔组织结构，探讨这一结构与眼球运动的功能关系。方法成年家猫5只，用盐酸氯胺酮注射行全身麻醉，将所有家猫眼眶分离取材并整体固定，每只动物任选一侧眼眶行大体解剖学观察，对侧眼眶行全眶冠状位8μm及5μm厚连续切片，相邻切片用Masson三色染色和Weigert染色法分析猫眼4条直肌周围结缔组织成分，并用α-平滑肌肌动蛋白（α—SMA）单克隆抗体进行免疫组织化学染色，鉴定眼眶平滑肌。结果Masson三色染色显示，猫眼外肌胶原纤维环较薄，与眶层肌纤维的联系疏松；胶原纤维环及连接带中平滑肌及弹性纤维仅以少量细胞的形式散在分布；内直肌周围胶原纤维环、内下侧连接带亦与其他纤维环或连接带无明显差异。结论猫眼外肌周围结缔组织较薄可能与猫双眼运动功能不甚发达有关。

Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.

Tendon injuries of the hand

Tendon injuries are the second most common injuries of the hand and therefore an important topic in trauma and orthopedic patients.Most injuries are open injuries to the flexor or extensor tendons,but less frequent injuries,e.g.,damage to the functional system tendon sheath and pulley or dull avulsions,also need to be considered.After clinical examination,ultrasound and magnetic resonance imaging have proved to be important diagnostic tools.Tendon injuries mostly require surgical repair,dull avulsions of the distal phalanges extensor tendon can receive conservative therapy.Injuries of the flexor tendon sheath or single pulley injuries are treated conservatively and multiple pulley injuries receive surgical repair.In the postoperative course offlexor tendon injuries,the principle of early passive movement is important to trigger an"intrinsic"tendon healing to guarantee a good outcome.Many substances were evaluated to see if they improved tendon healing;however,little evidence was found.Nevertheless,hyaluronic acid may improve intrinsic tendon healing.

Modeling and Control of the Pulley Buffer System of Arresting Cable for Shipboard Aircraft Based on Magneto-Rheological Fluid

Taking the MK7-3 of USA hydraulic buffer arresting device as the research subject,the dynamical model for the shipboard aircraft arresting system is established,and the magneto-rheological(MR) damper is applied to pulley shock absorbers for shipboard aircraft block system.Due to the effect of the MR damper has not been known completely and so far MR damper model has not been defined,we use a set of characteristic test of the MR damper,through the process of parameters identification,to establish the dynamical model for the MR damper based on the Bingham plastic model.Then,the fuzzy control rules are designed,the buffer control for the pulley buffer of shipboard aircrafts is completed in touchdown moment based on MR technology. Compared with blocking device of hydraulic pulley buffer in the same condition,the simulations results show that the proposed MR pulley buffer can effectively recognize the impact energy for shipboard block system and reduce the pull peak of arresting cable.It improves significantly safety during landing of the air vehicles and lowers the risk of accidents.

从眼外肌肌张力与前庭系统关联性初探眼针诊疗疼痛机理

白睛“脉络”的形态,受到眼直肌与眼外肌Pulley系统之间张力的影响。位于眼针穴区的Pulley系统限制结构受到刺激,会使眼外肌的牵张力发生改变。眼外肌肌张力变化启动前庭-动眼反射机制,改善肢体肌肉紧张程度,影响枕-寰-枢复合体的力学平衡,调节人体的重力线、运动模式和躯体姿势,从而缓解相关运动系统的疼痛。眼外肌肌张力变化信号通过前庭神经核复合体整合后,还可以对内脏调节核团进行调节,起到治疗内脏疼痛的作用。而来自肌肉或内脏的张力病变信号传递至前庭-动眼系统,引起眼直肌肌张力增高,睫状前动脉受压供血不畅,白睛“脉络”充血。

普莱氏法缝合高张力皮肤切口35例临床研究

对３５例皮肤活检或皮外科美容手术的张力性伤口运用普莱（Ｐｕｌｌｅｙ）氏缝合法缝合，获良好效果。此法既避免了张力较大的伤口缝合时不易拉合的困难，又有效地防止了间断缝合时因缝线在张力作用下压迫切口外侧缘造成坏死和形成缝线勒痕的缺点。

A rotary pneumatic actuator for the actuation of the exoskeleton knee joint

Rotary pneumatic actuators that are made out of linear one are always best suited for exoskeleton joint actuation due to its inherent power to weight ratio. This work is a modified version of knee actuation system that has already been developed and major modifications are made in order to make it more suitable for human wearing and also to reduce its bulkiness and complexity. The considered actuator system is a rotary actuator where a pulley converts the linear motion of the standard pneumatic piston into the rotary motion. To prove the capability of the actuator, its performance characteristics such as torque and power produced are compared to the required torque and power at the knee joint of the exoskeleton in swing phase and are found to be excellent. The two-way analysis of variance（ANOVA）is performed to find the effect of the throat area valve on knee angle. The ANOVA shows the significant effect of the throat area variation on the knee angle flexion made by the proposed actuator. A relationship between the throat area of flow control valve, that is connected to the exit port of the direction control valve, and angular displacement of the knee joint has been formulated. This relationship can be used to design a control system to regulate the mass flow rate of air at the exit and hence the angular velocity of the knee joint can be controlled.

Response Surface Methodology Approach for Transmission Optimization of V-Belt Drive

The aim of this study was to develop an efficient and realistic response surface optimization technique for the design of V-belt drive for optimum power output of the drive in machinery design. Optimization mathematical model of the V-belt drive was constructed. The power output of the belt drive was modeled and optimized by the Response Surface Methodology (RSM). Analysis of variance was used to evaluate the extent of influence of each independent variables on the power output response of the belt drive. A RSM optimization process was proposed to calculate optimal power output for V-belt drive given a set of pulley diameter for the drive employed in a tilling machine. The analysis showed that optimum power output of the drive for workshop light operation machinery could be obtained at driving and driven pulley radius range of 550 - 900 mm and 250 - 500 mm. An optimum power output of 1418.76 kW was obtained at driving and driven pulley radius of 846 and 486 mm respectively for a farm tilling machine.