向关节的

The joint driving torque is controlled with the impendence control method based on Lagrange dynamic equation of the robot.

六、提出了对机器人前向跑步速度控制和对机器人关节驱动力矩控制的控制策略。

In the cases of clubfoot, wire-cutting of the matatarsal bones was found in 33.33%, rigidity of the intertarsal joint and pin tract infection in 55.56% and 77.78% respectively.

克氏针足够张力和改变引起下肢出现外翻应力的姿态以及对严重短肢畸形分次延长可减少轴向偏移和肌肉关节挛缩。

Besides, TLIF need to resect the articular process unilaterally, and it will lead to decrease the stability postoperatively. Intertransverse lumbar interbody fusion is performed through the intertransversse area, with no bony structure destroyed and veterbral canal offend.

而TLIF通过切除一侧关节突后，斜向通过椎管侧方进行椎体间融合，降低了神经根、马尾及硬膜损伤的可能性，并可减少术后腰椎不稳、滑脱等并发症的发生，临床应用广泛。

For wider exposure, continue the subperiosteal stripping on each side, releasing the muscular and capsular attachments to the condyles and exposing the anterior surface, taking care not to injure the ulnar nerve.

如欲更广泛显露、继续在骨膜下向两侧分离，松解肌肉和关节囊在肱骨髁的附着部，显露肘关节前方，注意不要损伤尺神经。

Objective To study the pathogenesis and clinical symptoms of patient with central type of interˉvertebral disc protrusion manifested intermittent claudication as the mainly clinical presentation,so as to reach the early diagnosis and treamtmet in time.Methods In58cases,X-ray film,lumbar discography,CT examinations were done to confirm the diagnosis,then total laminectomig was performed to reveal the vertebal body without involving small arˉticular process.Intervertebral tissue was excised via duralotomy approach in2cases in remaining56cases,through right and left longitudinal syndesmotomy to resect the nucleus pulposus of lumber intervertebral disc.Results In58cases treated by operation,the operative findings were in according with the X-ray and CT examinations ofpre-opˉeration.

目的 对呈间歇性跛行主要临床表现的中央型椎间盘突出症患者的发病机制和临床表现进行研究，达到早诊断、早治疗方法对58例患者进行X线拍片，腰椎碘造影，CT扫描检查，根据检查结果确诊后，采用全椎板切除显露椎体，未累及小关节突，2例经硬膜切开入路切除间盘组织，余56例经从双侧用神经剥离子带棉片将硬脊膜带神经根向中线剥拉至显露圆形突出物止，分别从左右纵韧带摘除髓核。

Results It was found that the temporal branch is deep to the temporoparietal fascia and frontal muscle.The temporal branch has one to four branches in general.The first one is 8.1±2.1mm anterior to articular tubercle and 33.8±4.9mm superior to the bony lateral canthus.

结果 面神经颞支位于颞浅筋膜和额肌的深层，通常有1-4分支，第1支先位于关节结节前方8.1±2.1mm，然后向内上方行走进入额肌或眼轮匝肌上部，位于骨性眼外眦上方33.8±4.9mm。

Results: The posterior margin separation of centrums was more obvious than anterior margin separation in cases with traction from anteflection position of 10 degrees, while the most increases of intervertebral space occurred in cases with traction from neutral position.

颈椎牵引在中立位时对椎间盘的轴向作用最大，前屈位时受力集中在椎体后缘，后伸位转移到后侧小关节。

Some common compensation: Hip and Knee Pronation Distortion Syndrome stretch Psoas, Tensor Fascia Late, Adductors, Medial Hamstring Subtalar Joint Pronation stretch Lateral Gastrocnemius, Peroneals.

一些常规的助力现象：臀部和膝盖向下弯曲－腰肌伸展用力，内收肌借力。距下关节弯曲－腓肠肌借力。

M were applied to produce six kinds of pure moment of force and to create six kinds of movement of the lumbar spine in flexion, extension, left and right lateral bendings as well as left and right axial rotations.

在双侧小关节分级切除状态下，后路螺纹椎间融合器均能显著降低L4-L5节段的前屈、左右侧弯运动范围，但后伸、左右轴向旋转运动只能恢复到完整状态水平。

The long head crosses the shoulder joint and works with the front deltoid to raise the arm to the front.

长头穿过肩关节与前三角肌，提高工程的手臂向前方。

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。