单关节的

The Lace-up group's center of pressure displacement quantity is bigger than other two groups,therefore its balance ability is also bad, therefore suggested the athlete when wearing ankle braces sports should inquire specialized doctor and the protection suggestion avoids injury.

人体在穿戴不同踝部护具执行单脚著地后迅速推蹬动作时， Lace-up和Air stirrup这两种护具在著地期间确实具有限制关节活动度的效果，但也因踝关节跖屈能力的下降造成人体著地时缓冲地面冲击力能力下降的现象，造成本研究结果在地面反作用力垂直分力Lace-up和Air stirrup组都较赤足组来的较大，著地时脚的负荷率Lace-up组和Air stirrup组都较赤足组来的较大，且Lace-up组在著地期压力中心偏移量也较其他两组大，故其平衡能力也有差异，故建议运动员在穿著踝部护具运动前应询问专业医师及防护员的建议以避免因此而受到伤害。

Six cadavers were prepared for necroscopy, operative procedure of ILIF were simulated on L3-S1, and all related important anatomic structure and their relationship were observed and record. ILIF with transpedicle screw fixation were also performed with cage insertion.3. Twelve fresh frozen bovine lumbar functional spinal units were prepared for biomechanical testing. According to the different treatment order, the specimens were devided into 7 groups, which included: 1intact specimens, 2specimens were treated by left unilateral facetectomy and had homolateral anatomical threaded cages inserted, 3 TLIF with homolateral pedicle screw fixation, 4 TLIF with bilateral pedicle screw fixation, 5 specimens had anatomical threaded cages inserted on the left by intertransverse process approach, 6 ILIF with homolateral pedicle screw fixation, 7 ILIF with bilateral pedicle screw fixation.

方法1、对20名正常志愿者L3-S1节段进行CT增强+三维重建检查，在三维重建图形上测量横突长度、上下横突间距、椎间孔外椎间隙高度及斜径，观查横突间区域血管走形特点并测量血管内径，然后进行统计分析及评价。2、采用福尔马林固定尸体标本六具，模拟ILIF手术对L3-S1节段进行操作，观察横突间区域重要结构的位置和毗邻关系，并模拟同侧椎弓根钉和单枚椎间融合器的置入过程，探讨该术式存在的问题并改进。3、采用小牛脊柱运动节段标本12具，依序进行不同处理后分为以下7组：⑴正常对照组CG⑵左侧小关节切除+椎间融合器植入组(TLIF⑶TLIF附加同侧椎弓根钉固定组；⑷TLIF附加双侧椎弓根钉固定组；⑸左侧横突间入路椎间融合器植入组ILIF⑹ILIF附加同侧椎弓根钉固定组；⑺ILIF附加双侧椎弓根钉固定组。

ABSTRACT In this dissertation, fault-tolerance of redundant manipulators is thoroughly investigated. First, inherent relationship between the dexterity and fault-tolerance of single-redundancy manipulator is discussed. Both the manipulability and the relative manipulability are utilized for measuring the kinematic fault-tolerance of the manipulator with one joint failure. Furthermore, the relative manipulability is used for measuring dexterity loss resulted by one joint failure, and the relationship between the fault-tolerance measurement and null space vector of Jacobian matrix is established.

本文对冗余自由度机器人的答错性问题进行了深入的分析和迭付：首先研究了单冗余度机器人运动学灵活性与容错性之间的内在关系，提出以故障构形的可操作度和相对可操作度来度量机器人的运动学容错性，用相对可操作度来度量关节故障给机器人操作灵巧性造成的损失，并建立了容错性度量指标与Jacobian矩阵零空间向量之间的关系。

Severe brachial plexopathy after an ultrasound-guided single-injection nerve block for total shoulder arthroplasty in a patient with multiple sclerosis: what is the likely cause of this complication?

一个全肩关节造行术的多发性硬化的病人，进行了单次注射的神经阻滞后发生了严重的臂丛病变：这个并发症的最可能的原因是什么呢？

It is an effective and reliable method to treat comminuted subtrochanteric fracture by combining UAEF with limited internal fixation. It has obvious advantages of good reduction and reliable fixation, which is useful for early joint function exercise.

单侧成角度骨外固定架结合有限内固定治疗股骨转子下粉碎性骨折是一种有效可靠的方法，能达到良好的骨折复位，坚强的固定，并可早期行关节功能锻炼。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

These two operations were both effective in the treatment of unilateral paralysis of vocal fold, but it should be selected according to the requirement of patient, the pattern of damage, the degree of paralysis and movement of cricoarythenoid joint.

两种术式均是治疗单侧声带麻痹的有效方法，但应根据患者的要求、损伤的方式、声带麻痹程度及有无环杓关节固定等情况进行选择合适的治疗方法。

Group 1 with fixation of facet joint screw had a significant increase in stiffness for extension, bilaleral bending, and colockwise rotation.

经侧后方斜向植入的单枚椎间融合器加上小关节突螺丝钉内固定融合术，在提供充分椎管减压的同时，具有损伤小、脊柱后部稳定性好、术中对马尾及神经根牵拉轻的优点，可以比较理想地取代后路双枚融合器椎间融合术。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了