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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。

The cellular constituents of the carpus and tarsus were investigated in 6 healthy Holstein cows.

实验对6头健康有牛的腕关节、跗关节滑液的细胞学成分进行了研究，确立了关节滑液细胞的计数方法。

Rash, pustular psoriasis may also have changed. X ray showed that some patients with rheumatoid arthritis joint changes and the same may have a partial decalcification bone, joint cavity narrow, there are varying degrees of joint erosion and soft tissue swelling.

皮疹也可有脓疱型牛皮癣的改变。X线显示，部分病人关节的变化和类风湿型关节炎相同，骨质可有局部的脱钙，关节腔狭窄，有不同程度的关节侵蚀与软组织肿胀。

objective to compare the effects of hip arthroplasty and ao compressive cannular in treatment of the displaced fracture of femoral neck in elderly.methods from 1995.5 to 2004.11, 78 elderly patients of over 65 years old with displaced femoral neck fracture were operated with hip arthroplasty and ao compressive cannular.

目的 比较人工关节置换术与ao加压空心螺钉术治疗老年人有移位股骨颈骨折的疗效。方法将1995年5月～2004年11月我院收治的78例年龄在65周岁以上的有移位的新鲜股骨颈骨折患者进行回顾性研究，将病例分为a、b两组，a组为人工关节置换组，b组为ao加压空心螺钉治疗组。ao加压空心螺钉治疗组随访12～91个月，平均41.7个月，随访人工关节置换组12～96个月，平均40.3个月。

There are more than two dozen reported cases of lumbar facet dislocation after rapid deceleration injuries (e.g., traffic accidents), most involving L5 S1.61,112 115 The mechanism of injury in these cases is purported to be a combination of hyperflexion, distraction, and rotation.61,112,116 In a posthumous study conducted in 31 lumbar spines of subjects who died of traumatic injuries,Twomey et al.117 found occult bony fractures in the superior articular process or subchondral bone plate in 35% of victims, and z-joint capsular and/or articular cartilage damage in 77% of cases.

多项研究报道了急性减速伤后发生腰椎小关节分离，多数发生于L5-S1，其机制可能为过度屈曲，分离和旋转。在一项对死亡病例的研究中，Twomey 等发现，31例因交通事故死亡的人中有35%的腰椎上关节突或软骨下骨性终板存在隐匿骨折，77%存在小关节囊和/或关节软骨损伤。作者总结创伤后隐匿性股和软组织损伤也许是腰痛的来源。

There are more than two dozen reported cases of lumbar facet dislocation after rapid deceleration injuries (e.g., traffic accidents), most involving L5 S1.61,112 115 The mechanism of injury in these cases is purported to be a combination of hyperflexion, distraction, and rotation.61,112,116 In a posthumous study conducted in 31 lumbar spines of subjects who died of traumatic injuries,Twomey et al.117 found occult bony fractures in the superior articular process or subchondral bone plate in 35% of victims, and z-joint capsular and/or articular cartilage damage in 77% of cases.

多项研究报道了急性减速伤后发生腰椎小关节分离，多数发生于L5-S1，其机制可能为过度屈曲，分离和旋转。在一项对死亡病例的研究中，Twomey 等发现，31例因交通事故死亡的人中有35%的腰椎上关节突或软骨下骨性终板存在隐匿骨折，77%存在小关节囊和/或关节软骨损伤。

Patients with polyarticular course JIA (19 females, three males; mean age 13.9 years; mean disease duration 6.3 years; 15 with polyarticular onset, seven with systemic onset, one with residual systemic activity; eight rheumatoid factor positive; eight with erosive disease) were treated with etanercept for up to 24 months.

22名多关节幼年型类风湿关节炎患者(19 例女性， 3例男性；平均年龄 13.9 年；平均病程 6.3 年； 15例现有多关节症状， 7例有全身症状， 1例有残余的全身症状； 8例RF阳性； 8例有骨关节侵蚀)使用etanercept治疗超过24 个月。

Results(1) Group of electroacupuncture in Shu and dense wave can significantlyreduce the degree of ankle swelling(P＜0.05, P＜0.01), which shows thatelectroacupuncture has obvious anti-inflammatory and repercussive roles;(2) Theresults of HE staining showed that group of electroacupuncture in Shuand dense wave can significantly reduce inflammatory cell infiltration,inhibit synovial cell proliferation, and decrease proliferation of granulationtissue in rats joints;(3) group of electroacupuncture in dense-wave can increase the pain thresholdof experimental rats (P＜0.05, P＜0.01), reduce the content of peripheral painmediums, such as K~+, DA and 5-HT(P＜0.05, P＜0.01), which shows thatelectroacupuncture has significant analgesic effect;(4) In the local lesion of joints, electroacupuncture can significantly reducethe content of IL-1β, IL-8, TNF-a, increase IL-4 content, decrease theexpression of COX-2mRNA, and significantly promote the expression ofHSP-70 protein in synovial tissues of acute gouty arthritis rats (P＜0.05,P＜0.01),thus restrain the occurrence of synovial tissue inflammation.

结果：(1)电针疏密波组能显著减轻踝关节肿胀度(P＜0.05，P＜0.01)，表明电针有明显的抗炎消肿作用；(2)HE染色显示：电针疏密波组可使大鼠关节炎症细胞浸润明显减轻，滑膜细胞增生明显被抑制，肉芽组织增生明显减少；(3)电针密波组能提高实验性大鼠痛阈(P＜0.05，P＜0.01)，降低外周疼痛介质K~+、DA、5-HT的含量(P＜0.05，P＜0.01)，表明电针有明显的镇痛作用；(4)在病变关节局部，电针能显著降低急性痛风性关节炎大鼠滑膜组织IL-1β、IL-8、TNF-α含量(P＜0.05，P＜0.01)，升高IL-4的含量(P＜0.05，P＜0.01)，并降低关节滑膜内COX-2mRNA的表达(P＜0.05，P＜0.01)，可促使急性痛风性关节炎大鼠滑膜内HSP-70蛋白表达显著增加(P＜0.05，P＜0.01)，从而抑止滑膜组织炎症发生。

The shoulder is a ball and socket joint (like the hip, but not as stable) and since your shoulder moves every time you move your arm, it is not difficult to imagine that shoulder problems could affect 15% to 30% of adults at any one time, and are a common reason for a visit to the physio.

肩关节本身是球窝关节（就像髋关节一样，但是稳定性欠缺），既然肩关节的活动是如此的频繁，那么有15%~30%的成年人存在各类肩关节问题也就不算奇怪了。因此寻求物理治疗就显得很有必要。

It is often difficult to define the source of pain for most patients have referred somatic pain, in which neurological symptoms and signs are not so apparent.

但是患有腰椎小关节损伤的患者有时会有下腰部、大腿前方、腹股沟等部位疼痛，说明腰小关节的神经支配分的复杂性，腰椎小关节的这种支配方式形成了十分复杂的腰腿痛发病机制。

However, as the name（read－only memory）implies, CD disks cannot be written onorchanged in any way.

然而，正如其名字所指出的那样，CD盘不能写，也不能用任何方式改变其内容。

Galvanizes steel pallet is mainly export which suits standard packing of European Union, the North America. galvanizes steel pallet is suitable to heavy rack. Pallet surface can design plate type, corrugated and the gap form, satisfies the different requirements.

镀锌钢托盘多用于出口，替代木托盘，免薰蒸，符合欧盟、北美各国对出口货物包装材料的法令要求；喷涂钢托盘适用于重载上货架之用，托盘表面根据需要制作成平板状、波纹状及间隔形式，满足不同的使用要求。