关节的

Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based schemes in Cartesian/joint space and the stiffness control.

与传统的基于机器人末端力／力矩信息的笛卡尔阻抗控制方案不同，考虑了5种基于关节力矩的笛卡尔阻抗控制方案，包括笛卡尔空间／关节空间基于力的、笛卡尔空间／关节空间基于位置的方案和刚度控制。

But if I want to…""Natasha, I am serious…" Natasha did not let her finish; she drew the countess's large hand to her, and kissed it on the upper side, and then on the palm, then turned it over again and began kissing it on the knuckle of the top joint of the finger, then on the space between the knuckles, then on a knuckle again, whispering:"January, February, March, April, May.""

如果我愿意……""娜塔莎，我要一本正经地说……"娜塔莎不让伯爵夫人说完，就把她的一只大手拉到自己身边来，吻吻她的手背，然后吻吻掌心，又把手翻过来，开始吻她的手指的上关节，然后吻关节之间的地方，然后又吻上关节，同时轻言细语地说："一月，二月，三月，四月，五月。""

After 24 weeks,the operation area of group A was more smooth,and the surrounding normal cartilage naturally straight flush,transparent form new cartilage,subchondral bone formation in good condition;Group B restoration surgery the basic integrity of the cartilage tissue, center is not yet fully integrated,there was slight depression;CollagenⅡimmunohistochemistry of cartilage that was new brown area.Group C has no formation of articular cartilage.The growth and the intergration of subchondral bone of group A and B were better.

术后24周取材，见A组山羊手术区关节表面较为光滑，与周边正常软骨自然连续平齐，透明的新生软骨组织形成，软骨下骨形成完好；B组山羊手术区修复的软骨组织基本完整，中心部位仍未完全融合，有微小凹陷；Ⅱ型胶原免疫组化示新生软骨组织呈棕黄色。C组术区关节凹陷，无关节软骨组织形成。A组和B组，软骨下骨的生长及与周围组织的结合均较好，无植入物脱落现象的发生。

Results After more than 1 year's 99Tc-MDP therapy, 10 patients with multiple arthrosis erosion and serious malfunctioning had function recovery and arthral reformation of different extent.

结果 10例有多关节骨侵蚀严重功能障碍患者经&云克&治疗达一年以上后均见有不同程度的功能恢复和骨侵蚀的改善，显效者可以行走、旅游、生活自理或部分生活自理。3例依赖服用强的松病人可停用激素药物或减量服用（1.25mg/天）。X片示，受损的狭窄的关节间隙增宽，侵蚀的关节面得到改善，骨质疏松亦见好转。

They found that the joint moments measured at any given motion increased with greater magnitudes of joint displacement, and were significantly larger in the two most caudad facet joints (L4 L5 and L5 S1).62 With lateral bending, strains of the joint capsule tended to be larger in magnitude in the three most caudad joints(L3 S1) during contralateral flexion (i.e., the left facet joints are most strained during right lateral flexion),whereas the two most cephalad joints (L1 L2 and L2 L3)bore the greatest strain during bending to the ipsilateral side.

当向对侧弯曲时侧弯时最尾端(L3 S1)的三个椎体的小关节囊的拉伸强度增大（例如右侧屈曲时左侧小关节达到最大的应力）。而头端的两个关节(L1 L2 和L2 L3)在向同侧屈曲运动时拉伸力量最大。

Then we discussed the valuation of MRI in detecting cartilage abnormalities. 3. Creation and evaluation to the patellofemoral and tibiofemoral catilage degeneration modle Sixteen goats were used in this experiment.

关节镜下的按照Outerbridge软骨分级标准进行诊断，分析MRI分级和关节镜分级的相关性和SPIR/3D T1-FFE诊断软骨病变的敏感性及特异性，讨论MRI对髌股关节软骨病变诊断的价值。

Objective: To investigate the morphology change of articular cartilage of femur head epiphyses after ischemic-reperfusion and possible mechanisms, to explore the role of iNOS, HSP70 and apotosis in the process, and give theory basis for prevention and cure of degeneration of articular cartilage.

目的：明确股骨头骺缺血-再灌流后关节软骨的形态学改变；了解iNOS、HSP70、细胞凋亡在股骨头骺缺血-再灌流后关节软骨的作用，探讨形态学演变的可能机制；为关节软骨退行性病变的进一步研究和防治提供一定理论依据。

BACKGROUND: To reduce the morbidity of traditional quadricepsplasty for the treatment of severe arthrofibrosis of the knee, we instituted a treatment regimen consisting of an initial extra-articular mini-invasive quadricepsplasty and subsequent intra-articular arthroscopic lysis of adhesions during the same anesthesia session.

背景：为了减轻传统股四头肌成形术治疗严重膝关节粘连带来的不利影响，我们创立了一种新的治疗方式，包括在同一个麻醉期间，最初的关节外微创股四头肌成形术和随后的关节内关节镜下粘连松解。

When read more different study word the snake like robot joint is designed. In this word ADAMS software were used to simulate snake like robot motion on the ground. After input different signal the snake like robot can motion with different shape, when compared with biology snake, get the snake like robot can exhibition the strongpoint of the biology snake.

本文参考相关技术文献并结合自身特点设计了蛇形机器人关节模块的机械结构，并引入了多体动力学仿真软件ADAMS 对蛇形机器人关节模块进行运动状态仿真，模拟出不同输入信号下的运动状态，再与生物蛇的运动状态比较，得出蛇形机器人关节模块组合后能够发挥出生物蛇的运动优点。

Secondly, for redundant robots with elastic joints, system model developing and the effect of redundancy resolution on joint torques and joint deflections are discussed.

其次，对考虑关节弹性的冗余度机器人进行了研究，主要讨论了系统的建模以及冗余度分解对关节力矩和关节弹性变形的影响等方面的问题。

Plunder melds and run with this jewel!

掠夺melds和运行与此宝石！

My dream is to be a crazy growing tree and extend at the edge between the city and the forest.

此刻，也许正是在通往天国的路上，我体验着这白色的晕旋。