In the process of feeding,broilers are susceptible to leg diseases,which are often caused by factors such as genetics,bacteria,viruses,the growth environment,and diet management.Treating leg disorders/diseases in broi...In the process of feeding,broilers are susceptible to leg diseases,which are often caused by factors such as genetics,bacteria,viruses,the growth environment,and diet management.Treating leg disorders/diseases in broilers is challenging,and once they suffer from such conditions,it generally leads to reduced production performance and affects the quality of meat.It is worth mentioning that with the advancement of intensive management technologies and the accelerated growth rate of broilers,the leg diseases in broilers has increased,resulting in higher culling rates during production.Leg diseases not only cause significant economic losses to the poultry industry,but also severely jeopardize the animal welfare of broilers.Therefore,effective early diagnosis is crucial to mitigate the adverse effects of chicken leg diseases.This study aims to review various diagnostic methods,including clinical diagnosis,autopsy,radiological diagnosis,infrared thermal imagery,biomarkers and emerging diagnostic techniques,to establish a theoretical foundation for the identification or monitoring of leg diseases in poultry industry.展开更多
BACKGROUND Restless legs syndrome(RLS)is characterized by an urge to move with an unpleasant sensation in the lower limbs.RLS typically affects the legs.However,it can also affect several other body regions,such as th...BACKGROUND Restless legs syndrome(RLS)is characterized by an urge to move with an unpleasant sensation in the lower limbs.RLS typically affects the legs.However,it can also affect several other body regions,such as the arms,abdomen,face,neck,head,and genital area.There are only a few reports of the RLS variant affecting the head.AIM To assess the epidemiological,clinical,and other aspects of the RLS variant affecting the head.METHODS We conducted a retrospective study of 17 adult patients(>18 years)who met the RLS criteria and simultaneously experienced RLS-like symptoms in the head.RESULTS The median age at which symptoms appeared was 41.6 years.Males and females were equally affected(1.1:1).All 17 patients had uncomfortable sensations in the lower legs.Insomnia or disturbed sleep was the most common comorbidity(n=16,88.2%).However,headache was the most common presenting or primary symptom(n=10,70.5%).Dizziness or an abnormal sensation in the head was the second most common presenting symptom(5 patients,29.4%).Other presenting features were leg pain,backache,and generalized body pain.All patients responded favorably to dopaminergic medications.CONCLUSION If RLS-related unpleasant sensations and pain are felt in the head,they may be misinterpreted as headache,dizziness,or psychosomatic symptoms.RLS and headaches in a subset of patients may be two phenotypic manifestations of the same disorder.展开更多
BACKGROUND Restless legs syndrome(RLS)is a neurological disorder characterized by an uncontrollable urge to move the legs during rest.Standard treatments may provide short-term relief but are limited by long-term adve...BACKGROUND Restless legs syndrome(RLS)is a neurological disorder characterized by an uncontrollable urge to move the legs during rest.Standard treatments may provide short-term relief but are limited by long-term adverse effects.Herbal medicine containing Paeoniae Radix(HCP)has traditionally been used in Korean medicine to treat RLS symptoms.AIM To investigate the clinical effectiveness and safety of HCP in treating RLS.METHODS This retrospective chart review study included 15 patients with RLS who were treated with HCP between September 2017 and August 2022 at the Kyung Hee University Korean Medicine Hospital.The demographic,disease-related,and treatment-related characteristics,as well as the impressions of each patient,were analyzed.The study also evaluated the changes in the subjective complaints of RLS symptoms,the Korean version of the International Restless Legs Scale(KIRLS)scores before and after treatment,and the adverse events after HCP administration.RESULTS Following HCP administration,14 patients(93.3%)experienced a decrease in the degree of discomfort associated with their symptoms,with an average reduction to 44.7±35.1%compared to their discomfort levels before taking the drug.After treatment,the mean total K-IRLS score decreased significantly from 23.00±9.75 to 13.93±10.9(P=0.005).Among the HCP,a significant reduction in the K-IRLS score was observed in the Gyejibokryeonghwan(26.0±9.7 to 10.0±9.4,P=0.028)and Jakyakgamchotang(23.2±12.6 to 6.6±4.2,P=0.042)groups.Additionally,no adverse events were reported.CONCLUSION HCP improved symptoms in RLS patients.These results suggest that HCP may be an effective and safe alternative for RLS.A randomized controlled trial is required to confirm these findings.展开更多
Backswimmers exhibit a high degree of mobility in water,and their different motion patterns have important implications for the design of micro-biomimetic underwater robots.This paper used three-dimensional high-speed...Backswimmers exhibit a high degree of mobility in water,and their different motion patterns have important implications for the design of micro-biomimetic underwater robots.This paper used three-dimensional high-speed cameras to extract the key points on the hind legs.The hind leg motion laws and the deformation laws of the setae were obtained in four motion patterns:rapid forward,cruising,in-motion turning,and in-place turning.The motion laws of each joint on the hind leg are modeled using a Fourier series.A kinematic model of hind legs was established based on the DH method,and the motion characteristics of hind legs under different motion patterns were analyzed.This paper provides basic data and theoretical models for micro-biomimetic robots.展开更多
The Design and manufacturing of a noble piezoresistive pressure sensor(PS) for subtle pressures(<1 kPa) were presented. Meanwhile, in the studies conducted in the field of pressure sensors, the measurement of subtl...The Design and manufacturing of a noble piezoresistive pressure sensor(PS) for subtle pressures(<1 kPa) were presented. Meanwhile, in the studies conducted in the field of pressure sensors, the measurement of subtle pressures has received less attention. The limitations in the inherent gauge factor in silicon, have led to the development of polymer and composite resistive sensitive elements. However,in the development of resistance sensing elements, the structure of composite elements with reinforcement core has not been used. The proposed PS had a composite sandwich structure consisting of a nanocomposite graphene layer covered by layers of PDMS at the bottom and on the top coupled with a polyimide(PI) core. Various tests were performed to analyze the PS. The primary design target was improved sensitivity, with a finite-element method(FEM) utilized to simulate the stress profile over piezoresistive elements and membrane deflection at various pressures. The PS manufacturing process is based on Laser-engraved graphene(LEG) technology and PDMS casting. Experimental data indicated that the manufactured PS exhibits a sensitivity of 67.28 mV/kPa for a pressure range of 30-300 Pa in ambient temperature.展开更多
The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low mov...The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot’s attitude control and motion is verified with simulations and prototype experiments, which confirm the robot’s ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.展开更多
Leg ulcers pose a significant burden on morbidity,healthcare costs,and quality of life,despite rarely resulting in limb loss.This underscores the necessity for safe and effective alternative treatments.Unani medicine ...Leg ulcers pose a significant burden on morbidity,healthcare costs,and quality of life,despite rarely resulting in limb loss.This underscores the necessity for safe and effective alternative treatments.Unani medicine offers various therapeutic options for managing ulcers.This case report details the successful treatment of a non-healing venous ulcer using Unani regimens in a 40-year-old male with a history of diabetes mellitus and paralytic polio.The patient sought care at the Regional Research Institute of Unani Medicine,Silchar,Assam,India,for a chronic ulcer in the gaiter region of his right leg,which was associated with mild pain,itching,and hyperpigmentation but notably lacked any signs of varicose veins.Over the years,the patient had undergone various treatments,including topical care and antibiotics;however,frustration with persistent non-healing led him to explore alternative interventions.The Unani treatment included medicinal leech therapy,followed by the application of a grated unripe papaya bandage for 14 days.By the end of this period,the ulcer had completely healed,allowing the discontinuation of the dressing.By the 21st day,symptom resolution was observed,with complete relief from pain and itching and normalization of hyperpigmentation in the surrounding area.This case highlights the potential of Unani therapeutic approaches in effectively managing non-healing venous ulcers.展开更多
Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mec...Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mechanism designed to equip legged robots with variable-width capabilities.Subsequently,a morphology-aware locomotion learning pipeline,based on reinforcement learning,is proposed for real-time trunk-width deformation and adaptive legged locomotion.The proposed variable-width trunk is integrated into a quadrupedal robot,and the learning pipeline is employed to train the adaptive locomotion controller of this robot.This study has three key contributions:(1)An overconstrained morphing mechanism is designed to achieve single-DoF trunk-width deformation,thereby minimizing power consumption and simplifying motion control.(2)A novel morphology-adaptive learning pipeline is introduced that utilizes adversarial joint-level motion imitation to ensure coordination consistency during morphological adaptation.This method addresses dynamic disturbances and interlimb coordination disruptions caused by width modifications.(3)A historical proprioception-based asymmetric neural network architecture is utilized to attain implicit terrain perception without visual input.Collectively,these developments enable the proposed variable-width legged robot to maintain consistent locomotion across complex terrains and facilitate rapid width deformation in response to environmental changes.Extensive simulation experiments validate the proposed design and control methodology.展开更多
The tension leg platform is a typical compliant platform that is connected to the seabed through tension leg tendons.However,it is hard to characterize tension leg tendons due to the complexity of their force and moti...The tension leg platform is a typical compliant platform that is connected to the seabed through tension leg tendons.However,it is hard to characterize tension leg tendons due to the complexity of their force and motions as well as the lack of full-scale test methods.We performed a finite element analysis and full-scale four-point bending fatigue tests on tension leg tendons and connectors to study the fatigue properties of the tension leg tendons(made using 36in-X70 steel pipes)used in the Gulf of Mexico.The maximum deflection and the maximum stress of samples under complex loading were estimated through finite element simulation to ensure the testing requirements,including load intensity,load method,load path,and frequency.The maximum equivalent strain and the corresponding position were then determined through testing,which were further compared with simulation results to verify their accuracy and applicability.The maximum strain amplitude from simulations was 761.42με,while the equivalent strain amplitude obtained through tests was 734.90με,which is close to the simulation result.In addition,when the number of fatigue cycles reached 1.055 million,sample damage did not occur.It confirms that the fatigue performance of the tendon steel pipe weld is better than the C1 curve value shown in the DNV RP C203 specification.The proposed full-scale approach to study the fatigue properties of tension leg tendons can provide a reference for domestic engineering design and manufacture of tension leg tendons as well as promote the localization of test equipment.展开更多
[Objectives]To investigate the clinical efficacy of Cyclic Flexion Traction(CFT)in treating Lumbar Disc Herniation(LDH)and its effects on lumbocrural pain relief,functional improvement,and nerve root decompression.[Me...[Objectives]To investigate the clinical efficacy of Cyclic Flexion Traction(CFT)in treating Lumbar Disc Herniation(LDH)and its effects on lumbocrural pain relief,functional improvement,and nerve root decompression.[Methods]Seventy LDH patients treated at the orthopedic rehabilitation outpatient and inpatient departments of Shiyan Taihe Hospital from June 2022 to December 2024 were randomly divided into a treatment group(CFT therapy,n=35)and a control group(traditional traction,n=35).The treatment group received cyclic flexion traction(traction force of 30%-50%body weight with a cycle of 60-30-30 sec),while the control group received supine position linear traction.Both groups underwent 4 weeks of treatment,with assessments including visual analog scale(VAS),Oswestry Disability Index(ODI),and straight leg raising test(SLRT)angles.[Results]The treatment group showed a significantly greater reduction in VAS scores(from 6.97 to 2.31)compared to the control group(from 6.89 to 3.74)(P<0.05).Similarly,ODI improvement(41.62→15.73 compared with 40.98→22.84)and SLRT angle increase(41.23°→76.47°compared with 42.09°→64.19°)were more pronounced in the treatment group(all P<0.05).[Conclusions]Through dynamic decompression mechanisms,CFT therapy demonstrates superior efficacy to traditional traction in pain relief,functional recovery,and nerve root decompression(effective rate 94.29%compared with 77.14%,P<0.05),representing a superior non-surgical treatment option.展开更多
This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we e...This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we extend the Clock Torque Actuated Spring-Loaded Inverted Pendulum(CT-SLIP)template to three dimensions,creating a comprehensive control framework.A template-based control strategy is then developed to compute joint torques for stable locomotion,along with a detailed approach for transitioning between gaits.To enable the flight phase in the running trot,a projectile motion model is incorporated into the template.For improved turning,we implement a yaw control method that rotates the swing foot plane to enhance stability,enabling higher turning rates while maintaining steady forward motion and balance.To further enhance locomotion stability and performance,a Whole-Body Controller(WBC)is integrated.The proposed method is implemented and rigorously evaluated in the MuJoCo simulator,with experiments testing gait transitions and disturbance rejection.Additionally,comparative studies assess the impacts of both swing foot plane rotation and the WBC on overall system performance.Furthermore,the approach is validated through real hardware experiments on Unitree GO1 quadrupedal robot,successfully demonstrating smooth gait transitions,stable locomotion,and practical applicability in real-world scenarios.展开更多
Introduction: Open leg fracture is a diaphyseal or metaphyseal, extra-articular fracture of one or both leg bones, with communication between the fracture site and the external environment. To provide a broader contex...Introduction: Open leg fracture is a diaphyseal or metaphyseal, extra-articular fracture of one or both leg bones, with communication between the fracture site and the external environment. To provide a broader context, studies conducted globally have highlighted the significance of understanding open leg fractures due to their complex management and potential complications. Previous research in Africa and Europe provides comparative data that emphasizes regional differences in fracture types, causes, and treatment outcomes. This study aims to contribute to improving the management of theses fractures in Niger. Materials and Methods: This was a prospective, descriptive study carried out in the Traumatology-Orthopedics Department of the Zinder National Hospital, Niger, from December 8, 2020 to June 8, 2022 (18 months). We included all patients over 15 years of age in whom an open leg fracture was diagnosed and managed. Inclusion criteria focused on patients aged over 15 years with confirmed diagnoses of open leg fractures. Results: Over an 18-month period, the frequency of open leg fractures was 16.28%. There was a predominance of males (85.93% or n = 116). The average age of patients was 31.79 years. Road accidents were the primary circumstance of occurrence (93.33% or n = 126). The fracture line was simple in 74 patients (54.81%) and complex in 61 cases (45.19%). Surgically, the external fixator was used in 78 cases (57.80%). Postoperative follow-up was mostly straightforward. The main complications were infection (4 cases) and delayed consolidation (4 cases). Conclusion: Open leg fractures in adults are frequent at Zinder National Hospital. Public road accidents were the main cause of occurrence. An external fixator osteosynthesis was the most commonly used surgical option. These findings have important implications for healthcare policy, particularly in improving trauma care infrastructure and road safety initiatives in Niger. Future studies should prioritize the development of standardized treatment protocols and investigate the long-term outcomes of different surgical approaches.展开更多
In this paper,a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption.The innovative structure cleverly incorporates micro...In this paper,a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption.The innovative structure cleverly incorporates micro-plate springs,offering significant stiffness adjustment capabilities.To meet the stiffness requirements,the relationships between foot-ground contact force and the deformation force of the elastic component,as well as the influence of elastic component deformation and foot cushioning amplitude are comprehensively analyzed.With the aid of finite element optimization analysis,a single-leg experimental platform is designed,and the effectiveness and applicability of the novel structure are validated through experiments including unloaded free swinging,freely falling body motion and ground squats experiments.Comparative experiments results show the evident superiorities of the passive compliance joint.展开更多
Pork hind legs have low fat and high protein contents,making cured pork prone to a dry and tough texture.To address this issue,0.8%(w/w)natural polysaccharide curdlan was added to cured pork.Physicochemical indicators...Pork hind legs have low fat and high protein contents,making cured pork prone to a dry and tough texture.To address this issue,0.8%(w/w)natural polysaccharide curdlan was added to cured pork.Physicochemical indicators,free amino acids,and flavor were tested on days 0,10,20,and 30 of curing.The results indicated that curdlan increased product yield by 4.08%,slowed moisture loss during processing,and reduced pH from 6.02 to 5.21.It also decreased the hardness,chewiness,and stickiness in cured pork hind legs,yielding a softer texture.In addition,it slowed the rate of color deterioration and inhibited fat oxidation.Analysis of volatile flavor compounds revealed that curdlan increased the variety of flavor compounds in cured pork hind legs by more than twenty types.The odor activity values of key aroma components(such as linalool and nonanal)also increased to varying degrees,enriching the flavor profile of the cured meat.Thus,curdlan effectively improves the texture,color,and flavor of cured pork hind legs,providing process parameters for industrial production of low-fat cured meat.展开更多
Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actu...Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actuation configuration and efficient running gait was proposed.However,insects,mammals and reptiles in nature typically use their powerful rear legs to achieve rapid running gaits for predation or risk evasion.In this work,the load-carrying capacity of the BHMbots with front-leg actuation and rear-leg actuation configurations is comparatively studied.Simulations based on a dynamic model with four degrees of freedom,along with experiments,have been conducted to analyze the locomotion characteristics of the two configurations under different payload masses.Both simulation and experimental results indicate that the load-carrying capacity of the microrobots is closely related to their actuation configurations,which leads to different dynamic responses of the microrobots after carrying varying payload masses.For microrobots with body lengths of 15 mm,the rear-leg actuation configuration exhibits a 31.2%enhancement in running speed compared to the front-leg actuation configuration when unloaded.Conversely,when carrying payloads exceeding 5.7 times the body mass(350 mg),the rear-leg actuation configuration demonstrates an 80.1%reduction in running speed relative to the front-leg actuation configuration under the same payload conditions.展开更多
Long ago during the Spring and Autumn Period,there was a prince named Chong’er from the State of Jin.He had to run away from his home because some bad people wanted to hurt him.One day,while traveling in a lonely pla...Long ago during the Spring and Autumn Period,there was a prince named Chong’er from the State of Jin.He had to run away from his home because some bad people wanted to hurt him.One day,while traveling in a lonely place,Chong’er was so hungry and cold that he felt he couldn’t stand up.Just when things seemed hopeless,a very loyal minister named Jie Zitui did something amazing.He cut off a piece of his own leg,cooked it over a fire and gave it to Chong’er.When Zhong’er found out what Jie Zitui had done,he cried and cried because he was so touched.展开更多
基金supported by the National Natural Science Foundation of China(32202876)the China Postdoctoral Science Foundation(2023T160198)the Key Scientific and Technological Project of Henan Province Department of China(232102111046)。
文摘In the process of feeding,broilers are susceptible to leg diseases,which are often caused by factors such as genetics,bacteria,viruses,the growth environment,and diet management.Treating leg disorders/diseases in broilers is challenging,and once they suffer from such conditions,it generally leads to reduced production performance and affects the quality of meat.It is worth mentioning that with the advancement of intensive management technologies and the accelerated growth rate of broilers,the leg diseases in broilers has increased,resulting in higher culling rates during production.Leg diseases not only cause significant economic losses to the poultry industry,but also severely jeopardize the animal welfare of broilers.Therefore,effective early diagnosis is crucial to mitigate the adverse effects of chicken leg diseases.This study aims to review various diagnostic methods,including clinical diagnosis,autopsy,radiological diagnosis,infrared thermal imagery,biomarkers and emerging diagnostic techniques,to establish a theoretical foundation for the identification or monitoring of leg diseases in poultry industry.
文摘BACKGROUND Restless legs syndrome(RLS)is characterized by an urge to move with an unpleasant sensation in the lower limbs.RLS typically affects the legs.However,it can also affect several other body regions,such as the arms,abdomen,face,neck,head,and genital area.There are only a few reports of the RLS variant affecting the head.AIM To assess the epidemiological,clinical,and other aspects of the RLS variant affecting the head.METHODS We conducted a retrospective study of 17 adult patients(>18 years)who met the RLS criteria and simultaneously experienced RLS-like symptoms in the head.RESULTS The median age at which symptoms appeared was 41.6 years.Males and females were equally affected(1.1:1).All 17 patients had uncomfortable sensations in the lower legs.Insomnia or disturbed sleep was the most common comorbidity(n=16,88.2%).However,headache was the most common presenting or primary symptom(n=10,70.5%).Dizziness or an abnormal sensation in the head was the second most common presenting symptom(5 patients,29.4%).Other presenting features were leg pain,backache,and generalized body pain.All patients responded favorably to dopaminergic medications.CONCLUSION If RLS-related unpleasant sensations and pain are felt in the head,they may be misinterpreted as headache,dizziness,or psychosomatic symptoms.RLS and headaches in a subset of patients may be two phenotypic manifestations of the same disorder.
基金Supported by Korea Health Technology R&D Project through the Korea Health Industry Development Institute(KHIDI),the Ministry of Health and Welfare,Republic of Korea,No.RS-2023-KH142002.
文摘BACKGROUND Restless legs syndrome(RLS)is a neurological disorder characterized by an uncontrollable urge to move the legs during rest.Standard treatments may provide short-term relief but are limited by long-term adverse effects.Herbal medicine containing Paeoniae Radix(HCP)has traditionally been used in Korean medicine to treat RLS symptoms.AIM To investigate the clinical effectiveness and safety of HCP in treating RLS.METHODS This retrospective chart review study included 15 patients with RLS who were treated with HCP between September 2017 and August 2022 at the Kyung Hee University Korean Medicine Hospital.The demographic,disease-related,and treatment-related characteristics,as well as the impressions of each patient,were analyzed.The study also evaluated the changes in the subjective complaints of RLS symptoms,the Korean version of the International Restless Legs Scale(KIRLS)scores before and after treatment,and the adverse events after HCP administration.RESULTS Following HCP administration,14 patients(93.3%)experienced a decrease in the degree of discomfort associated with their symptoms,with an average reduction to 44.7±35.1%compared to their discomfort levels before taking the drug.After treatment,the mean total K-IRLS score decreased significantly from 23.00±9.75 to 13.93±10.9(P=0.005).Among the HCP,a significant reduction in the K-IRLS score was observed in the Gyejibokryeonghwan(26.0±9.7 to 10.0±9.4,P=0.028)and Jakyakgamchotang(23.2±12.6 to 6.6±4.2,P=0.042)groups.Additionally,no adverse events were reported.CONCLUSION HCP improved symptoms in RLS patients.These results suggest that HCP may be an effective and safe alternative for RLS.A randomized controlled trial is required to confirm these findings.
基金supported by the National Natural Science Foundation of China(52475307)the Shandong Provincial Natural Science Foundation(ZR2023ME041).
文摘Backswimmers exhibit a high degree of mobility in water,and their different motion patterns have important implications for the design of micro-biomimetic underwater robots.This paper used three-dimensional high-speed cameras to extract the key points on the hind legs.The hind leg motion laws and the deformation laws of the setae were obtained in four motion patterns:rapid forward,cruising,in-motion turning,and in-place turning.The motion laws of each joint on the hind leg are modeled using a Fourier series.A kinematic model of hind legs was established based on the DH method,and the motion characteristics of hind legs under different motion patterns were analyzed.This paper provides basic data and theoretical models for micro-biomimetic robots.
文摘The Design and manufacturing of a noble piezoresistive pressure sensor(PS) for subtle pressures(<1 kPa) were presented. Meanwhile, in the studies conducted in the field of pressure sensors, the measurement of subtle pressures has received less attention. The limitations in the inherent gauge factor in silicon, have led to the development of polymer and composite resistive sensitive elements. However,in the development of resistance sensing elements, the structure of composite elements with reinforcement core has not been used. The proposed PS had a composite sandwich structure consisting of a nanocomposite graphene layer covered by layers of PDMS at the bottom and on the top coupled with a polyimide(PI) core. Various tests were performed to analyze the PS. The primary design target was improved sensitivity, with a finite-element method(FEM) utilized to simulate the stress profile over piezoresistive elements and membrane deflection at various pressures. The PS manufacturing process is based on Laser-engraved graphene(LEG) technology and PDMS casting. Experimental data indicated that the manufactured PS exhibits a sensitivity of 67.28 mV/kPa for a pressure range of 30-300 Pa in ambient temperature.
基金supported in part by the National Natural Science Foundationof China under Grant(61801122)Natural Science Foundation of FujianProvince(2022J01542).
文摘The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot’s attitude control and motion is verified with simulations and prototype experiments, which confirm the robot’s ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.
文摘Leg ulcers pose a significant burden on morbidity,healthcare costs,and quality of life,despite rarely resulting in limb loss.This underscores the necessity for safe and effective alternative treatments.Unani medicine offers various therapeutic options for managing ulcers.This case report details the successful treatment of a non-healing venous ulcer using Unani regimens in a 40-year-old male with a history of diabetes mellitus and paralytic polio.The patient sought care at the Regional Research Institute of Unani Medicine,Silchar,Assam,India,for a chronic ulcer in the gaiter region of his right leg,which was associated with mild pain,itching,and hyperpigmentation but notably lacked any signs of varicose veins.Over the years,the patient had undergone various treatments,including topical care and antibiotics;however,frustration with persistent non-healing led him to explore alternative interventions.The Unani treatment included medicinal leech therapy,followed by the application of a grated unripe papaya bandage for 14 days.By the end of this period,the ulcer had completely healed,allowing the discontinuation of the dressing.By the 21st day,symptom resolution was observed,with complete relief from pain and itching and normalization of hyperpigmentation in the surrounding area.This case highlights the potential of Unani therapeutic approaches in effectively managing non-healing venous ulcers.
基金Supported by State Key Lab of Mechanical System and Vibration Project of China(Grant No.MSVZD202008).
文摘Animals can adapt to their surroundings by modifying their trunk morphology,whereas legged robots currently utilize rigid trunks.This study introduces a single-degree-of-freedom(DoF),six-revolute(6R)morphing trunk mechanism designed to equip legged robots with variable-width capabilities.Subsequently,a morphology-aware locomotion learning pipeline,based on reinforcement learning,is proposed for real-time trunk-width deformation and adaptive legged locomotion.The proposed variable-width trunk is integrated into a quadrupedal robot,and the learning pipeline is employed to train the adaptive locomotion controller of this robot.This study has three key contributions:(1)An overconstrained morphing mechanism is designed to achieve single-DoF trunk-width deformation,thereby minimizing power consumption and simplifying motion control.(2)A novel morphology-adaptive learning pipeline is introduced that utilizes adversarial joint-level motion imitation to ensure coordination consistency during morphological adaptation.This method addresses dynamic disturbances and interlimb coordination disruptions caused by width modifications.(3)A historical proprioception-based asymmetric neural network architecture is utilized to attain implicit terrain perception without visual input.Collectively,these developments enable the proposed variable-width legged robot to maintain consistent locomotion across complex terrains and facilitate rapid width deformation in response to environmental changes.Extensive simulation experiments validate the proposed design and control methodology.
基金supported by the Innovation Capability Improvement Project of Scientific and Technological Small and Medium-sized Enterprises in Shandong Province,China(2021TSGC1415).
文摘The tension leg platform is a typical compliant platform that is connected to the seabed through tension leg tendons.However,it is hard to characterize tension leg tendons due to the complexity of their force and motions as well as the lack of full-scale test methods.We performed a finite element analysis and full-scale four-point bending fatigue tests on tension leg tendons and connectors to study the fatigue properties of the tension leg tendons(made using 36in-X70 steel pipes)used in the Gulf of Mexico.The maximum deflection and the maximum stress of samples under complex loading were estimated through finite element simulation to ensure the testing requirements,including load intensity,load method,load path,and frequency.The maximum equivalent strain and the corresponding position were then determined through testing,which were further compared with simulation results to verify their accuracy and applicability.The maximum strain amplitude from simulations was 761.42με,while the equivalent strain amplitude obtained through tests was 734.90με,which is close to the simulation result.In addition,when the number of fatigue cycles reached 1.055 million,sample damage did not occur.It confirms that the fatigue performance of the tendon steel pipe weld is better than the C1 curve value shown in the DNV RP C203 specification.The proposed full-scale approach to study the fatigue properties of tension leg tendons can provide a reference for domestic engineering design and manufacture of tension leg tendons as well as promote the localization of test equipment.
基金Supported by the Hospital-level Program of Shiyan Taihe Hospital(2022JJXM144).
文摘[Objectives]To investigate the clinical efficacy of Cyclic Flexion Traction(CFT)in treating Lumbar Disc Herniation(LDH)and its effects on lumbocrural pain relief,functional improvement,and nerve root decompression.[Methods]Seventy LDH patients treated at the orthopedic rehabilitation outpatient and inpatient departments of Shiyan Taihe Hospital from June 2022 to December 2024 were randomly divided into a treatment group(CFT therapy,n=35)and a control group(traditional traction,n=35).The treatment group received cyclic flexion traction(traction force of 30%-50%body weight with a cycle of 60-30-30 sec),while the control group received supine position linear traction.Both groups underwent 4 weeks of treatment,with assessments including visual analog scale(VAS),Oswestry Disability Index(ODI),and straight leg raising test(SLRT)angles.[Results]The treatment group showed a significantly greater reduction in VAS scores(from 6.97 to 2.31)compared to the control group(from 6.89 to 3.74)(P<0.05).Similarly,ODI improvement(41.62→15.73 compared with 40.98→22.84)and SLRT angle increase(41.23°→76.47°compared with 42.09°→64.19°)were more pronounced in the treatment group(all P<0.05).[Conclusions]Through dynamic decompression mechanisms,CFT therapy demonstrates superior efficacy to traditional traction in pain relief,functional recovery,and nerve root decompression(effective rate 94.29%compared with 77.14%,P<0.05),representing a superior non-surgical treatment option.
基金supported by The Scientific and Technological Research Council of Türkiye(TUBITAK)1515 Frontier R&D Laboratories Support Program for Turk Telekom neXt Generation Technologies Lab(XGeNTT)under Project No.5249902supported by the Scientific Research Projects Coordination Unit of Middle East Technical University(METU)under Project No.ADEP-301-2025-11613.
文摘This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems,with a focus on smooth transitions between walking trot,regular trot,and flying(running)trot.First,we extend the Clock Torque Actuated Spring-Loaded Inverted Pendulum(CT-SLIP)template to three dimensions,creating a comprehensive control framework.A template-based control strategy is then developed to compute joint torques for stable locomotion,along with a detailed approach for transitioning between gaits.To enable the flight phase in the running trot,a projectile motion model is incorporated into the template.For improved turning,we implement a yaw control method that rotates the swing foot plane to enhance stability,enabling higher turning rates while maintaining steady forward motion and balance.To further enhance locomotion stability and performance,a Whole-Body Controller(WBC)is integrated.The proposed method is implemented and rigorously evaluated in the MuJoCo simulator,with experiments testing gait transitions and disturbance rejection.Additionally,comparative studies assess the impacts of both swing foot plane rotation and the WBC on overall system performance.Furthermore,the approach is validated through real hardware experiments on Unitree GO1 quadrupedal robot,successfully demonstrating smooth gait transitions,stable locomotion,and practical applicability in real-world scenarios.
文摘Introduction: Open leg fracture is a diaphyseal or metaphyseal, extra-articular fracture of one or both leg bones, with communication between the fracture site and the external environment. To provide a broader context, studies conducted globally have highlighted the significance of understanding open leg fractures due to their complex management and potential complications. Previous research in Africa and Europe provides comparative data that emphasizes regional differences in fracture types, causes, and treatment outcomes. This study aims to contribute to improving the management of theses fractures in Niger. Materials and Methods: This was a prospective, descriptive study carried out in the Traumatology-Orthopedics Department of the Zinder National Hospital, Niger, from December 8, 2020 to June 8, 2022 (18 months). We included all patients over 15 years of age in whom an open leg fracture was diagnosed and managed. Inclusion criteria focused on patients aged over 15 years with confirmed diagnoses of open leg fractures. Results: Over an 18-month period, the frequency of open leg fractures was 16.28%. There was a predominance of males (85.93% or n = 116). The average age of patients was 31.79 years. Road accidents were the primary circumstance of occurrence (93.33% or n = 126). The fracture line was simple in 74 patients (54.81%) and complex in 61 cases (45.19%). Surgically, the external fixator was used in 78 cases (57.80%). Postoperative follow-up was mostly straightforward. The main complications were infection (4 cases) and delayed consolidation (4 cases). Conclusion: Open leg fractures in adults are frequent at Zinder National Hospital. Public road accidents were the main cause of occurrence. An external fixator osteosynthesis was the most commonly used surgical option. These findings have important implications for healthcare policy, particularly in improving trauma care infrastructure and road safety initiatives in Niger. Future studies should prioritize the development of standardized treatment protocols and investigate the long-term outcomes of different surgical approaches.
基金supported by the National Natural Science Foundation for general program of China(Grant No.62373217).
文摘In this paper,a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption.The innovative structure cleverly incorporates micro-plate springs,offering significant stiffness adjustment capabilities.To meet the stiffness requirements,the relationships between foot-ground contact force and the deformation force of the elastic component,as well as the influence of elastic component deformation and foot cushioning amplitude are comprehensively analyzed.With the aid of finite element optimization analysis,a single-leg experimental platform is designed,and the effectiveness and applicability of the novel structure are validated through experiments including unloaded free swinging,freely falling body motion and ground squats experiments.Comparative experiments results show the evident superiorities of the passive compliance joint.
基金Supported by Sichuan Science and Technology Program(2024ZHCG0091)National Modern Agricultural Industry Technology System Sichuan Swine Innovation Team(SCCXTD-2025-8)+1 种基金Open Fund of Sichuan Provincial Key Laboratory of Meat Processing(24-R-20)China Agricultural Industry Research System(CARS-43).
文摘Pork hind legs have low fat and high protein contents,making cured pork prone to a dry and tough texture.To address this issue,0.8%(w/w)natural polysaccharide curdlan was added to cured pork.Physicochemical indicators,free amino acids,and flavor were tested on days 0,10,20,and 30 of curing.The results indicated that curdlan increased product yield by 4.08%,slowed moisture loss during processing,and reduced pH from 6.02 to 5.21.It also decreased the hardness,chewiness,and stickiness in cured pork hind legs,yielding a softer texture.In addition,it slowed the rate of color deterioration and inhibited fat oxidation.Analysis of volatile flavor compounds revealed that curdlan increased the variety of flavor compounds in cured pork hind legs by more than twenty types.The odor activity values of key aroma components(such as linalool and nonanal)also increased to varying degrees,enriching the flavor profile of the cured meat.Thus,curdlan effectively improves the texture,color,and flavor of cured pork hind legs,providing process parameters for industrial production of low-fat cured meat.
基金supported in part by Beijing Natural Science Foundation under Grant 3232010in part by the National Natural Science Foundation of China under Grant 12002017+2 种基金in part by AECC Industry-university Collocation Fund under Grant HFZL2023CXY026in part by Beihang Outstanding Young Scholars Project under Grant YWF-23-L-1201in part by 111 Project under Grant B08009.
文摘Locomotion performance degradation after carrying payloads is a significant challenge for insect-scale microrobots.Previously,a legged microrobot named BHMbot with a high load-carrying capacity based on front-leg actuation configuration and efficient running gait was proposed.However,insects,mammals and reptiles in nature typically use their powerful rear legs to achieve rapid running gaits for predation or risk evasion.In this work,the load-carrying capacity of the BHMbots with front-leg actuation and rear-leg actuation configurations is comparatively studied.Simulations based on a dynamic model with four degrees of freedom,along with experiments,have been conducted to analyze the locomotion characteristics of the two configurations under different payload masses.Both simulation and experimental results indicate that the load-carrying capacity of the microrobots is closely related to their actuation configurations,which leads to different dynamic responses of the microrobots after carrying varying payload masses.For microrobots with body lengths of 15 mm,the rear-leg actuation configuration exhibits a 31.2%enhancement in running speed compared to the front-leg actuation configuration when unloaded.Conversely,when carrying payloads exceeding 5.7 times the body mass(350 mg),the rear-leg actuation configuration demonstrates an 80.1%reduction in running speed relative to the front-leg actuation configuration under the same payload conditions.
文摘Long ago during the Spring and Autumn Period,there was a prince named Chong’er from the State of Jin.He had to run away from his home because some bad people wanted to hurt him.One day,while traveling in a lonely place,Chong’er was so hungry and cold that he felt he couldn’t stand up.Just when things seemed hopeless,a very loyal minister named Jie Zitui did something amazing.He cut off a piece of his own leg,cooked it over a fire and gave it to Chong’er.When Zhong’er found out what Jie Zitui had done,he cried and cried because he was so touched.
