关节的

The static model of torsion joint is based on that of bending joint. The effects of structure parameters inside air pressure, initial angle, rube average radius, rube shell thickness on the turning angle are analyzed and the following conclusions are drawn: the relationship between the angle of torsion joint and the inside air pressure is basically linear, the angle of torsion joint increases with the initial angle and rube average radius, the angle of torsion joint decreases while the rube shell thickness increases. The kinetic equation is built for torsion joint. Simulating experiment implies that the time of inflating and deflating process is extremely shorter than that of kinetic process. So the pneumatic process can be ignored in actual system design and control. The factors that affect the dynamic features of torsion joint, such as shell thickness of rubber tube, average radius, initial angle, connector's outlet area, moment of inertia and viscous damping coefficient, are analyzed and the following conclusions are drawn: the change of rube shell thickness has no effects on the dynamic process of FPA inside air pressure while greatly affects the turning angle of torsion joint; when the rube shell thickness is small, the torsion joint has a bigger turning angle, no overshoot and long risetime, when the shell thickness is big, the turning angle of torsion joint is small, but has high response speed, overshoot and low shock; when the rube average radius increases, the turning angle of torsion joint increases and the overshoot increases too; when the initial angle of torsion joint is big, the turning joint is big, the overshoot is small and shock is low, but the risetime is big; the connector's outlet area affects the dynamic process of FPA inside air pressure greatly, but has no effects on the dynamic process of turning angle; moment of inertia and viscous damping coefficient have no effects on the dynamic process of FPA inside air pressure, but affect the dynamic process of turning angle greatly.

在弯曲关节模型推导的基础上，建立扭转关节的静态模型，并分析了扭转关节内腔压力，初始转角，橡胶管平均半径，橡胶管壁厚等参数对关节转角的影响，得出扭转关节的转动角度与充入FPA内腔的压缩气体压力之间基本呈线性关系，扭转关节的转角随初始角度和橡胶管平均半径的增大而增大，扭转关节的转角随橡胶管壁厚的增大而减小的结论；建立了扭转关节的动力学方程，仿真实验表明FPA的充放气过程与扭转关节的动力学过程相比时间极短，在实际系统设计和控制过程中可以忽略不计；分析讨论橡胶管壁厚，平均半径，初始角度，气体节流口面积，转动惯量，粘性阻尼系数等因素对扭转关节动态特性的影响，得出橡胶管初始壁厚的变化对扭转关节FPA内腔压力的动态响应几乎没有影响而对关节转角的响应曲线影响比较明显，壁厚较小时，关节可以得到较大的转角，并且转角的响应曲线没有超调，但上升时间长，壁厚较大时，关节转角变小，响应加快，但是有超调和轻微振荡现象，橡胶管平均半径越大，得到的关节转角越大，但是转角响应的超调量也随之增大，FPA的初始角度越大，关节的转角越大，并且超调量减小，振荡减弱，但是上升时间增大，管接头出口面积的大小对关节FPA内腔压力的建立过程影响较大，但对关节转角的动态响应几乎没有影响，转动惯量和粘性阻尼系数对FPA内腔压力的动态过程几乎没有影响而对扭转关节转角有较大影响等结论。

Afterwards, we propose a new constant coefficients measurement method in dynamic equation of robot manipulators, this measurement method includes three groups of experiments: group one, let each joint of robot manipulator keep static to measure the constant coefficients in gravity term of dynamic equation and Coulomb frictional torque, group two: let only one joint of robot manipulator move at a constant velocity to measure the viscous frictional coefficient and constant coefficients in effective inertia of dynamic equation, group three: let only one joint of robot manipulator move at constant acceleration at a time to measure constant coefficients in Coriolis and centrifugal term and coupling inertia of dynamic equation.

让操作器单个关节恒速运动，在对驱动系统中传动机构，减速装置和电感系数综合考虑的基础上，这组实验对粘滞摩擦系数及有效惯量中常数系数进行测量。这种测量方法只要求旋转关节的驱动电机施加恒定电压，回转关节驱动电机施加正弦波电压。3。让操作器单个关节恒加速运动，这组实验测量动力学方程中哥氏力、离心力项和耦合惯量项中的常数系数，这种测量方法只要求单个关节匀加速运动，而其它各关节保持静止，这种测量方法虽然要求关节匀加速运动，但不必进行关节角加速度检测，而只需进行关节角位移和角速度检测即可，输入量直接给定为输入电压。

Osteoarthritis of the facet joints is similar to that of all diarthrodial joints, which displayed many changes such as cartilaginous surface defects, subchondral bone sclerosis, osteophyte formation, narrow capsule, apophyseal misalignment, and synovial hyperplasia.

腰小关节骨性关节炎同其他关节的骨性关节炎一样，表现为软骨面的病损，软骨下骨的硬化及骨赘形成，关节腔狭窄，关节囊增厚及滑膜增生等改变。

Dissect the fascia from the dorsum down to the bursa oer the medial aspect of the metatarsal head. Then make a cured incision through the bursa and capsule of the joint Fig. 1-24,; begin the incision oer the dorsomedial aspect of the joint, continue it proximally dorsal to the metatarsal head and then plantarward and distalward around the joint, and end it distally on the medioplantar aspect of the metatarsophalangeal joint.

然后弧形切开滑囊及跖趾关节囊图1-24，，切口起自关节背内侧，自跖骨头背侧向近端延长，然后转向跖侧，再转向远瑞，环绕关节而行，最后在远端终止于跖趾关节的跖内侧面，此切口形成一椭圆形网球拍状组织瓣，连接于近节趾骨的基底部

Methods From Aug1997to Sep2003,according to the injuries of interphalangeal joint,we grafted the metatarsusphalangeal joint and proximal phalangeal joints of2th toes for reconstructing it.

我们于1997年8月～2003年9月，根据掌指关节与近指间关节的损伤情况，设计应用第2足趾跖趾关节与近趾间关节移植同时重建掌指关节与近指间关节。

Methods From Aug1997to Sep2003,according to the injuries of interphalangeal joint,we grafted the metatarsusphalangeal joint and proximal phalangeal joints of2th toes for reconstructing it.

目的 观察第2足趾跖趾关节与近趾间关节移植同时重建掌指关节与近指间关节的临床疗效方法我们于1997年8月～2003年9月，根据掌指关节与近指间关节的损伤情况，设计应用第2足趾跖趾关节与近趾间关节移植同时重建掌指关节与近指间关节。

An elevation of the joint line primarily affected the patellofemoral joint with JCF increases of as much as 60% of the patient's body weight at 10-mm JLE and 90% BW at 15-mm JLE, while the largest increase in tibiofemoral JCF was only 14% BW.

关节线抬高后主要产生以下影响：关节线抬高10毫米时，膑股关节的接触力增加约体重的60%；关节线抬高15毫米时，膑股关节的接触力增加约体重的90%；而胫股关节接触力最大增加仅为14%。

In this thesis, an attempt at considering the flexible joint as non-linear torsion spring has been made.

首先，建立了刚性杆非线性关节机器人的动力学模型，之后通过一平面3R机器人进行了数值仿真，说明了在一定情况下，关节的非线性对刚性杆机器人关节变形和末端误差具有重要影响，并在此基础上，讨论了关节线性项、杆的集中质量和关节驱动加速度对机器人关节非线性特性的影响。

To investigate the the body shape strength and kinematics thateffects sprint expert performance 17 healthy male sprinters weremeasured using SongxiaM9000 high speed vidicon in the field; body shape of sprint athlete were tested by steel rule; Meanwhile shoulder were tested at 60, 240and360 deg/sec velocities ; lower limb were tested at 60, 240 deg/sec velocitues using Biodex-II tesing and rehabilitation system in the laboratory This research provide theoretical basement to scientifically make reasonable exercise prescription and perfect sprint theoryThe result show that (1) The results of correlation indicate that 100M performance related to the shoulder fast flexion torque and hip flexion/extension torque^ ankle fast dorsiflexion torque ;(2) The upper arm relaxing enclose and lower limbs length effect 100Mperformance;(3) The biggest shoulder extension joint, swing rage of shoulder and the biggest elbow joint extension effect 100M performance.

使用松下M9000高速摄像机对100米跑动过程中的运动员进行录像，同时测试短跑运动员100米成绩，利用爱捷录像分析系统获取运动学参数；用人体测量尺测试短跑运动员的肢体围度；同时采用Biodex-Ⅱ型等动测力及康复统，测试运动员上肢肩关节及下肢髋、膝、踝3个关节的等速屈伸肌力。在角速度60°／s、240°／s和360°s下测试肩关节等动向心收缩肌力；在角速度60°／s9慢速和240°／s及120°／s下测试下肢3关节等速向心及离心肌收缩肌力。分析肢体围度、各关节肌肉力量和运动学参数与100 影响河北省二级以上短跑运动员专项成绩的因素。一身体形态、力量素质和运动学参数米成绩的内在联系，为合理制订短跑力量训练和完善短跑理论提供理论依据。结果表明；肩带肌群肌力矩确实与100米成绩呈显著高度相关，同时髓关节屈伸力矩比、踝关节背屈力矩与100米跑成绩呈显著中度相关，可能《是影响100米的因素之一。（2）上臂紧张围、上臂放松围与100米跑成绩呈显。著中度相关；最大肩关节伸角、肩关节摆动幅度和最大肘关节伸角与 100 米成绩呈显著中高度相关。

For example, when joints are practicing yoga in the reverse movement, if the joint beyond the tolerance, caused by pressure on the joints, cartilage damage will be caused traumatic arthritis or degenerative joint disease.

比如练瑜伽时关节都在反向运动，如果超出了关节的承受度，对关节造成挤压，就会损伤软骨，造成创伤性关节炎或关节退行性病变。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。