有关节的

The algorithm GS to solve the problem of inverse dynamics based on the optimal theory is proposed, by using the numerical methods of Gill and shooting target, the optimal joint driven torques are obtained With the smooth joint trajectory motion, a fast and stable inverse dynamics method is proposed, it provides a new effective way to control the flexible manipulator The trajectory planning in the joint space and Cartesian coordinates is especially discussed In terms of kinematics of space flexible link manipulators, a sequential integration method for inverse dynamic analysis of flexible manipulators is developed The concrete results of simulations tested and verified the validity of proposed methods, and some valuable conclusions are achieved.

提出了求解基于最优理论的柔性臂逆动力学问题的GS法(Gill—Shooting method)，得到了柔性臂关节的最优驱动力矩；提出了基于光滑关节运动轨迹的柔性臂逆动力学的快速稳定方法，为柔性臂控制提供了一条新的途径；探讨了关节空间和直角坐标空间柔性臂的轨迹规划问题；研究并完善了结合柔性臂运动学的顺序积分的逆动力学方法。通过具体实例的仿真研究，验证了所提出的柔性臂逆动力学方法的有效性，得出了一些很有价值的结论。

The mean MSTS score were 22.5±1.6 in modular prosthesis group, 24.6±1.4 in osteoarticular allograft group, 27.0±1.5 in APC group respectively.

肱盂关节的外展度数：肿瘤型假体组42.2 4.5 ，异体半关节组48.3 5.3 ，APC移植组58.0 5.7 ，三组间差异有统计学意义（F=15.40，P=-0.000）。

Do you have pain in your joints or are you suffering from joint stiffness, swelling and redness?

你有你的关节疼痛，或你患有关节僵硬，肿胀，发红？

Optimal control of antagonistic muscle stiffness during voluntary movements, Biol Cybern, 1994,71:123～135

此时关节保持平衡点不动，关节总力矩为0，但有一定的刚度。

The authors found that the prealence of protrusio increased to approxi- mately 35.9% by the age of twenty years and then it plateaued; howeer, its presence did not correlate with osteoarthritic changes as measured with the Iowa hip score in patients more than forty years of age.

作者发现髋臼前突的发病率在20岁时增加到35.9%然后进入平台期，但其表现与骨关节炎改变并不成比例（IOWA髋指数，年龄大于40岁）；对有症状的患者来说，髋关节前突与髋部疼痛之间呈正相关关系，关节间隙宽度与髋前突间呈负相关关系，提示髋关节前突的力学因素对关节退变有一定作用，但可能不是主要因素。

Results:(1) FSN can inhibit secondary joints swelling and multi-arthritis evidently, improve the whole condition of rats; at the same time, it can also lighten the synovial inflammation and hyperplasia of lesion joints distinctly, and prevent the joint cartilage and bone from destruction; the collective efficiency of FSN is better than TWP.(2) FSN can raise AA rats low LTT of spleen to normal nearly, remedy the disorder of Th / Ts and Thl / Th2 cells balance in peripheral blood, restrain exorbitant TNF- a ? IL-1 produced by PM O , thereof exert anti-inflammatory and immunoregulation effect.(3) Inside the lesion joints, FSN can depress abnormal hyper-expression of TNF- a mRNA and NF-kB in synovial tissues, as well as advance the expression of Caspase-3 (a proteolytic enzyme of apoptosis), reduce synovial immflamination and proliferation.(4) FSN can lower the expression of VEGF in synovial tissue,reduce neogenetic veins, so inhibit the growth of pannus tissue and the damage of cartilage and bone by that.(5) The above effect of FSN are in proportion to its dosage.Conclusions: FSN has inhibitory effects on symptom and condition of experimental RA, which is better than TWP as a whole.

结果：(1)FSN有明显的抗炎作用，可显著抑制AA大鼠足跖肿胀与多关节炎，改善大鼠的全身情况，同时明显减轻病变关节滑膜炎症与增生，防止关节软骨及骨质的破坏，其综合作用优于TWP；(2)FSN还能使AA大鼠低下的脾LTT恢复至接近正常，纠正外周血中T细胞亚群Th／Ts及Th1／Th2平衡紊乱，抑制大鼠PHφ过高的TNF-α、IL-1分泌，而发挥抗炎和免疫调节作用；(3)在病变关节局部，FSN能显著抑制AA大鼠滑膜细胞异常增高的TNF-αmRNA的表达，降低滑膜组织中NF-kB表达，并增加凋亡蛋白酶Caspase-3表达，从而抑制滑膜的炎症与增殖；(4)FSN还可下调滑膜组织中VEGF表达，减少血管新生，由此抑制血管翳的形成及其对软骨和软骨下骨的侵蚀；(5)FSN的上述作用皆呈现一定的量效依赖关系，高剂量组作用优于低剂量组。

FSN can raise AA rats low LTT of spleen to normal nearly, remedy the disorder of Th/Ts and Th1/Th2 cells balance in peripheral blood, restrain exorbitant TNF-α、IL-1 produced by PMφ, thereof exert anti-inflammatory and immunoregulation effect.(3) Inside the lesion joints, FSN can depress abnormal hyper-expression of TNF-αmRNA and NF-kB in synovial tissues, as well as advance the expression of Caspase-3 (a proteolytic enzyme of apoptosis), reduce synovial immflammation and proliferation.(4) FSN can lower the expression of VEGF in synovial tissue, reduce neogenetic veins, so inhibit the growth of pannus tissue and the damage of cartilage and bone by that.(5) The above effect of FSN are in proportion to its dosage. Conclusions: FSN has inhibitory effects on symptom and condition of experimental RA, which is better than TWP as a whole.

结果：(1)FSN有明显的抗炎作用，可显著抑制AA大鼠足跖肿胀与多关节炎，改善大鼠的全身情况，同时明显减轻病变关节滑膜炎症与增生，防止关节软骨及骨质的破坏，其综合作用优于TWP；(2)FSN还能使AA大鼠低下的脾LTT恢复至接近正常，纠正外周血中T细胞亚群Th/Ts及Th1/Th2平衡紊乱，抑制大鼠PMφ过高的TNF-α、IL-1分泌，而发挥抗炎和免疫调节作用；(3)在病变关节局部，FSN能显著抑制AA大鼠滑膜细胞异常增高的TNF-αmRNA的表达，降低滑膜组织中NF-kB表达，并增加凋亡蛋白酶Caspase-3表达，从而抑制滑膜的炎症与增殖；(4)FSN还可下调滑膜组织中VEGF表达，减少血管新生，由此抑制血管翳的形成及其对软骨和软骨下骨的侵蚀；(5)FSN的上述作用皆呈现一定的量效依赖关系，高剂量组作用优于低剂量组。

Making use of the low speed and large torque of ultrasonic motors,we designed a five-fingered dexterous hand driven by ultrasonic motors.

利用超声电机低速和大转矩的特性设计了由其驱动的五指灵巧手，传动方式采用的是腱传动方式，每个手指均有4个自由度和4个关节，即其手指具有相互独立的关节，从而可以使手指末端两个关节的运动完全依照人手的二次运动方程耦合关系进行运动规划。

A shoe worn too big or too small will result in a stud being directly under the first MTP joint, affecting the joint as well as the sesamoids (the two small bones under the joint which protect it).

一个太大或者太小的球鞋的鞋钉会直接位于跖趾关节肌肉的下方，这样会对跖趾关节肌肉和籽骨(在跖趾关节肌肉下提供保护的2个小骨头)有不好的影响。

Methods : The defect of bone, skin and vessel in the bone and joint of limbs was treated by microsurgical method and the bone and joint injury was repaired by the external fixation supporter of odjustment cross joint with three Kirschner wires, keeping the free motion of every joint.

在四肢关节部位有骨缺损或骨折伴有血管损伤、皮肤缺损等病例，应用带血管的骨关节块移植、游离血管移植或各种皮瓣移植等显微外科方法修复后的同时，用三针可调外固定器跨关节外固定治疗骨关节损伤，保持各关节的自由活动。

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。