OBJECTIVE:To confirm the effectiveness and safety of Shi's manipulation in treating acute and subacute neck pain patients.METHODS:This multicenter,positive controlled,randomized clinical trial has trial and contro...OBJECTIVE:To confirm the effectiveness and safety of Shi's manipulation in treating acute and subacute neck pain patients.METHODS:This multicenter,positive controlled,randomized clinical trial has trial and control groups.There were 240 patients randomly assigned to the trial group and the control group,and both groups received their respective intervention treatment methods for a period of 12 weeks.The time windows for clinical data collection were before treatment,immediately after treatment,3-d 1,2,4,8,and 12-week after treatment,and follow-up was conducted at 26 and 52-week after treatment.The observed indicators used include primary outcome index and secondary outcome index,with the primary outcome index being the assessment of neck pain severity,which is evaluated by patients using Numerical Rating Scale(NRS).Secondary secondary outcome index include,(a)cervical dysfunction index,measured by patients using the Neck Disability Index(NDI)for self-assessment;(b)Cervical activity measurement,measured through the cervical range of motion measurement program on Android mobile system;(c)Satisfaction treatment assessment,determined by the patient's self-evaluation;(d)Safety index,recorded the incidence of adverse reactions and adverse event.Results:The results showed that these efficacy indices were improved in different degrees in both groups.At immediate after intervention,there was significant difference in NRS,NDI,Cervical Range of Motion(ROM)between the two groups(P<0.01),the trial group was superior to the control group.At 3-d after intervention,there was significant difference in NRS,NDI,ROM between the two groups(P<0.01).At 1-week and 2-week after intervention,there was significant difference in NDI and ROM between the two groups(P<0.01).At 4-week and 6-week after intervention,there was significant difference in NDI,ROM between the two groups(P<0.05).At 8-week after intervention,there was significant difference in NDI,lateral-bending and axial-rotation ROM between the two groups(P<0.05).At 12-week after intervention,there was significant difference in NDI between the two groups(P<0.01).At 26-week and 52-week after intervention,there was significant difference in NDI,NRS between the two groups(P<0.01).In addition,the adverse reaction of trial group is significantly lower than that of control group(P<0.05).The satisfaction of patients in the trial group was better than that in the control group(P<0.01).CONCLUSION:Our findings suggest that Shi's manipulation can be a good complementary treatment option in patients with acute and subacute neck pain.展开更多
Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfor...Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.展开更多
To evaluate the operation comfortability in the master-slave robotic minimally invasive surgery(MIS), an optimal function was built with two operation comfortability decided indices, i.e., the center distance and volu...To evaluate the operation comfortability in the master-slave robotic minimally invasive surgery(MIS), an optimal function was built with two operation comfortability decided indices, i.e., the center distance and volume contact ratio. Two verifying experiments on Phantom Desktop and Micro Hand S were conducted. Experimental results show that the operation effect at the optimal relative location is better than that at the random location, which means that the optimal function constructed in this paper is effective in optimizing the operation comfortability.展开更多
Perfect tracking of the tip position of a flexible-link manipulator(FLM) is unable to be achieved by causal control because it is a typical non-minimum phase system. Combined with non-causal stable inversion, an adapt...Perfect tracking of the tip position of a flexible-link manipulator(FLM) is unable to be achieved by causal control because it is a typical non-minimum phase system. Combined with non-causal stable inversion, an adaptive iterative learning control scheme based on Fourier basis function is presented for the tip trajectory tracking of FLM performing repetitive tasks. In this method,an iterative identification algorithm is used to construct the Fourier basis function space model of the manipulator, and a pseudoinverse type iterative learning law is designed to approximate the stable inversion of the non-minimum phase system, which guarantees the convergence and robustness of the control system. Simulation results show the performance and effectiveness of the proposed scheme.展开更多
针对近连续流过渡区多尺度绕流问题,学界发展了N-S(Navier-Stokes)/DSMC(direct simulation Monte Carlo)耦合方法,大多数此类求解器面临着耦合界面波动失稳的难题,因此对复杂外形和耦合界面的通用性值得重点研究。鉴于非结构网格面向...针对近连续流过渡区多尺度绕流问题,学界发展了N-S(Navier-Stokes)/DSMC(direct simulation Monte Carlo)耦合方法,大多数此类求解器面临着耦合界面波动失稳的难题,因此对复杂外形和耦合界面的通用性值得重点研究。鉴于非结构网格面向复杂外形高度的贴体性、优良适应性以及工程领域对过渡流区高效通用型计算方法的需求,提出并实现了一套三维复杂界面四面体非结构网格N-S/DSMC耦合方法用于模拟高超声速过渡流。该方法使用局部克努森数作为连续失效参数划分连续/稀薄区域,并生成三维复杂N-S/DSMC耦合界面,沿分界面两侧分别推进一层或多层界面信息传递单元,基于边界状态法进行信息耦合。该耦合方法无需对复杂不规则分界面作光滑和修型处理,具备对复杂过渡流区工程问题数值模拟的通用性。分别对三维高超声速圆球和钝锥绕流进行模拟,数值结果显示:与参考文献中的DSMC方法相比,激波处数值和壁面特征值基本一致,最大误差不超过8%,但计算效率分别提高了1.74倍和2.28倍,验证了该耦合方法的正确性和高效性。展开更多
基金the National Natural Science Foundation of China:Biomechanical Mechanism of Tendon Off-position and Joint Subluxation and Manual Treatment for Adolescent Neck Pain(No.82374467)the Research on the Mechanism of Manipulation to Regulate Internalizing Integrin and its Downstream Focal Adhesion Kinase/Ras Homolog Gene Family Member A/Rho-associated Coiled-coil Containing Protein Kinase 1 Signaling Pathway to Repair Chronic Skeletal Muscle Injury(No.82374481)the Mechanism of Huaizhen Nourishing the Liver Capsule to Maintain the Balance of Knee Joint from the Coupling and Interaction of Skeletal Muscle-subchondral Bone Dynamics Rresponse(No.81704103)。
文摘OBJECTIVE:To confirm the effectiveness and safety of Shi's manipulation in treating acute and subacute neck pain patients.METHODS:This multicenter,positive controlled,randomized clinical trial has trial and control groups.There were 240 patients randomly assigned to the trial group and the control group,and both groups received their respective intervention treatment methods for a period of 12 weeks.The time windows for clinical data collection were before treatment,immediately after treatment,3-d 1,2,4,8,and 12-week after treatment,and follow-up was conducted at 26 and 52-week after treatment.The observed indicators used include primary outcome index and secondary outcome index,with the primary outcome index being the assessment of neck pain severity,which is evaluated by patients using Numerical Rating Scale(NRS).Secondary secondary outcome index include,(a)cervical dysfunction index,measured by patients using the Neck Disability Index(NDI)for self-assessment;(b)Cervical activity measurement,measured through the cervical range of motion measurement program on Android mobile system;(c)Satisfaction treatment assessment,determined by the patient's self-evaluation;(d)Safety index,recorded the incidence of adverse reactions and adverse event.Results:The results showed that these efficacy indices were improved in different degrees in both groups.At immediate after intervention,there was significant difference in NRS,NDI,Cervical Range of Motion(ROM)between the two groups(P<0.01),the trial group was superior to the control group.At 3-d after intervention,there was significant difference in NRS,NDI,ROM between the two groups(P<0.01).At 1-week and 2-week after intervention,there was significant difference in NDI and ROM between the two groups(P<0.01).At 4-week and 6-week after intervention,there was significant difference in NDI,ROM between the two groups(P<0.05).At 8-week after intervention,there was significant difference in NDI,lateral-bending and axial-rotation ROM between the two groups(P<0.05).At 12-week after intervention,there was significant difference in NDI between the two groups(P<0.01).At 26-week and 52-week after intervention,there was significant difference in NDI,NRS between the two groups(P<0.01).In addition,the adverse reaction of trial group is significantly lower than that of control group(P<0.05).The satisfaction of patients in the trial group was better than that in the control group(P<0.01).CONCLUSION:Our findings suggest that Shi's manipulation can be a good complementary treatment option in patients with acute and subacute neck pain.
基金Supported by National Natural Science Foundation of China(Grant No.52275033)National Natural Science Youth Foundation of China(Grant No.52205033)Hebei Provincial Natural Science Foundation of China(Grant No.E2021203019)。
文摘Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.
基金Supported by the National High Technology Research and Development Program of China("863" Program,No.2012AA02A606)the Research Project of State Key Laboratory of Mechanical System and Vibration(MSV201412)
文摘To evaluate the operation comfortability in the master-slave robotic minimally invasive surgery(MIS), an optimal function was built with two operation comfortability decided indices, i.e., the center distance and volume contact ratio. Two verifying experiments on Phantom Desktop and Micro Hand S were conducted. Experimental results show that the operation effect at the optimal relative location is better than that at the random location, which means that the optimal function constructed in this paper is effective in optimizing the operation comfortability.
基金supported by National Natural Science Foundation of China(No.61273133)
文摘Perfect tracking of the tip position of a flexible-link manipulator(FLM) is unable to be achieved by causal control because it is a typical non-minimum phase system. Combined with non-causal stable inversion, an adaptive iterative learning control scheme based on Fourier basis function is presented for the tip trajectory tracking of FLM performing repetitive tasks. In this method,an iterative identification algorithm is used to construct the Fourier basis function space model of the manipulator, and a pseudoinverse type iterative learning law is designed to approximate the stable inversion of the non-minimum phase system, which guarantees the convergence and robustness of the control system. Simulation results show the performance and effectiveness of the proposed scheme.
文摘针对近连续流过渡区多尺度绕流问题,学界发展了N-S(Navier-Stokes)/DSMC(direct simulation Monte Carlo)耦合方法,大多数此类求解器面临着耦合界面波动失稳的难题,因此对复杂外形和耦合界面的通用性值得重点研究。鉴于非结构网格面向复杂外形高度的贴体性、优良适应性以及工程领域对过渡流区高效通用型计算方法的需求,提出并实现了一套三维复杂界面四面体非结构网格N-S/DSMC耦合方法用于模拟高超声速过渡流。该方法使用局部克努森数作为连续失效参数划分连续/稀薄区域,并生成三维复杂N-S/DSMC耦合界面,沿分界面两侧分别推进一层或多层界面信息传递单元,基于边界状态法进行信息耦合。该耦合方法无需对复杂不规则分界面作光滑和修型处理,具备对复杂过渡流区工程问题数值模拟的通用性。分别对三维高超声速圆球和钝锥绕流进行模拟,数值结果显示:与参考文献中的DSMC方法相比,激波处数值和壁面特征值基本一致,最大误差不超过8%,但计算效率分别提高了1.74倍和2.28倍,验证了该耦合方法的正确性和高效性。
