关节的

Convert relationship of prototype robot joint angle and equivalent model joint angle is presented based on the method of kinematics inverse solution. The Jacobian algorithm of redundant robot for achieving effective joint excursion is studied, which is fit for digital calculating. The grads projection algorithm of redundant robot multi optimizing capability function's proportion factor is deduced. The issues of apery arm robot singularity and joint self-movement are researched. The simulation experiment result of apery arm joint self-movement and line movement is presented.

因为七自由度拟人手臂机器人的建模比较困难，采用了在等效模型下求解其运动学逆解的方法，给出了原机器人机构关节角与等效模型关节角之间的转换关系；提出了一种适于数值计算的有效的求解有关节偏置的冗余度机器人Jacobian的算法，并在此基础上推导了冗余度机器人多优化性能指标函数的均衡比例因子梯度投影算法；研究了拟人手臂机器人的奇异问题和关节自运动问题；给出了拟人手臂进行关节自运动和进行直线轨迹跟踪的仿真实验结果。

Firstly,the cartesian coordinate system of joint mechanism is defined,and a mathematical model is constructed to express the relationships among the structure parameters,workplace and dynamic features of the driving joints.

通过定义关节结构的笛卡尔坐标系，建立反应关节结构参数与工作空间、动力学特性之间的数学模型，得出了腕关节在不同动作方式下的驱动原理，最后利用CATIA对腕关节结构进行了电子样机分析。

In response to repetitive strain and inflammation, the synovial l-z joints can fill with fluid and distend, resulting in pain from stretching the joint capsule.71 Distension of the articular recesses can also compress the exiting nerve root in the neural foramen or spinal canal, especially when the foramen is already narrowed by joint hypertrophy and/or osteophytes.

反复的应力与炎症反应，可使滑膜l-z关节充满滑液并扩张，导致关节囊收到牵拉产生疼痛。关节囊隐窝的扩张可以压迫神经孔出的神经根出口或压迫椎管内脊髓，尤其当由于关节肥大和/或骨赘形成已经存在椎间孔狭窄时发生率更高。

Method］twelve cases with extremities invasion bone tumor were reviewed,including 6 male and 6 female.the average age was 37.1 years old.according to the mri,typeⅰtumor located in metaphysic and growth eccentricity,and was treated with outside tumor osteotomy with reservation of one side as integumentale,the cut line was shape of "匚".type ⅱ tumor was with invasion part articular surface,and was operated with part joint osteotomy with reservation of one side as integumentale,the cut line was shape of"l".type ⅲ was with invasion total joint surface and as integmentale,all tumor segment including joint could be cut,but the shape of cut close to the diaphysis was echelonment.

方法］12例侵袭性骨肿瘤患者男6例，女6例；平均年龄37.1岁。根据mri表现选择不同截骨方法，ⅰ型肿瘤位于干骺端偏心性生长，采用保留一侧皮质骨的肿瘤外截骨，截骨线呈&匚&形。ⅱ型病例肿瘤侵蚀部分关节面，采用保留一侧皮质的部分关节截骨，截骨线呈&l&形。ⅲ型病例肿瘤侵蚀整个关节面和骨皮质，可切除包括关节在内的整个瘤段骨，只是近骨干侧截骨呈阶梯状。

It has been suggested that the architecture of the lower lumbar vertebrae and sacrum (e.g., inadequate separation between the inferior articular process of L4 and the superior articular process of L5, a wedged-shape interfacet region of L4, a more frontally oriented lumbar facet, and a wider sacrum), pelvic orientation and lumbosacral parameters (e.g., pelvic incidence, sacral table angle) may play a role in the development of spondylolysis.

低位椎体和骶骨的结构（如L4下关节突与L5上关节突间隔不足，L4下关节突成楔形，腰椎小关节方向过分偏额面方向，骶骨过宽），骨盆方向和腰骶段的参数（如骨盆影响和骶骨水平角）可能在脊柱滑脱的发展中扮演重要角色。

The histological data demonstrated that the impact could produce damages of both of TMJs. Hemarthrosis and destuction of the articular discs and the cartilage of the condylar process and glenoid fossa were observed. The greater force was, the more obvious destruction was found. The changes of the TMJs after indirect trauma are similar to humans.

结果发现，颏部撞击可引起双侧TMJ的间接性损伤，包括关节积血、髁状突、关节盘以及关节附着和颞骨关节面等破坏性改变，撞击力越大对关节结构的损伤越重，这种破坏性改变与人类TMJ损伤后的表现相一致，病变较典型，致伤方法可靠。

Protection of Joints: Glucosamine and chondroitin sulfate maintain cartilage elasticity and repair damaged joint tissues. Fish oil relieves pains in the joints and contributes to healthy joints

关节保护：添加葡萄糖胺、硫酸软骨素，维持软骨的弹力，修复损坏的关节组织，配合深海鱼油缓解关节疼痛，保护关节健康

Keep favourable sitting and lying posture, avoids the long time being in the sagging position, Stretch thoroughly articular capsule and muscle tendon surrounding arthrosis from shoulder orderly to elbow、wrist joint and each fingerweb. Attent to match external rotation when shoulder joint were abducting.

同时加强患侧上肢无痛范围的被动和主动运动，保持良好的坐卧姿势，避免长时间手处于下垂位，依次从患侧肩，肘，腕关节至掌指，指间各关节，使关节囊和关节周围肌腱充分伸展。

The first prosthesis for total replacement of the distal radio-ulnar joint, the joint between the long bones of the forearm in the wrist area, has been implanted in a patient in Hospital MAZ, in a procedure designed to offer strength and mobility to wrist-pain sufferers.

第一种用于远端桡骨－尺关节（这个关节位于前臂长骨腕关节之间）完全置换的假体，已经在西班牙MAZ医院(Zaragosa， Spain)的1例患者手术中进行了移植，该手术设计用于为腕关节疼痛患者提供力量和灵活性。

Preface: The shoulder play an important role in developing the function of the upper limb. Which makes the restoration of shoulder function in brachial plexus injury is vital for the functional restoration of the whole upper limb, and has been considered as one of the function which should be restored firstly;The spinal accessory nerve is one of the most effectively and usually used donor nerves for restoration of shoulder abduction.

引言：肩关节显著扩大了人手在三维空间中的活动范围，并为手部承担负荷提供坚实的支座，是整个上肢活动的基础，肩关节功能对于发挥上肢的作用至关重要，所以臂丛神经损伤后如何恢复肩关节功能是臂丛神经损伤患者整个上肢功能恢复的基础和关键，一直受到广泛的重视与关注，被认为是应优先恢复的关节功能之一；副神经是神经移位治疗臂丛神经损伤恢复肩关节外展功能最常应用的移位动力神经之一。

I am accused of being overreligious," she said in her quiet, frank manner,"but that does not prevent me thinking the children very cruel who obstinately commit such suicide.""

客人们在卡罗利娜·埃凯家里，举止就文雅一些，因为卡罗利娜的母亲治家很严厉。

Designed by French fashion house Herm è s, this elegant uniform was manufactured in our home, Hong Kong, and was the first without a hat.

由著名品牌 Herm è s 设计，这件高贵的制服是香港本土制造，是我们第一套不配帽子的制服。