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
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
The jack-up unit is one of the best drilling platforms in offshore oil fields with water depth shallower than 150 meters.As the most pivotal component of the jack-up unit,the leg system can directly affect the global ...The jack-up unit is one of the best drilling platforms in offshore oil fields with water depth shallower than 150 meters.As the most pivotal component of the jack-up unit,the leg system can directly affect the global performance of a jack-up unit.Investigation shows that there are three kinds of leg structure forms in the world now:the reverse K,X,and mixing types.In order to clarify the advantage and defects of each one,as well as their effect on the global performance of the jack-up unit,this paper commenced to study performance targets ofa deepwater jack-up unit with different leg systems(X type,reverse K type,and mixing type).In this paper a typical leg scantling dimension and identical external loads were selected,detailed finite element snalysis(FEA)models were built to simulate the jack-up unit's structural behavior,and the multi-point constraint(MPC)element together with the spring element was used to deal with the boundary condition.Finally,the above problems were solved by comparative analysis of their main performance targets(including ultimate static strength,dynamic response,and weight).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
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
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
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
This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effec...This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.展开更多
The present study monitored bacterial succession,physicochemical properties,and volatile organic compounds(VOCs)changes in smoked chicken legs with modified atmosphere packaging(MAP,60% CO_(2) and 40%N_(2))during a 25...The present study monitored bacterial succession,physicochemical properties,and volatile organic compounds(VOCs)changes in smoked chicken legs with modified atmosphere packaging(MAP,60% CO_(2) and 40%N_(2))during a 25-day storage period at 4℃.After 15 days of storage,S erratia proteamaculans and Pseudomonas fragi became the predominant bacteria.Furthermore,physicochemical properties changed significantly,as evidenced by an increase in thiobarbituric acid reactive substances and b*(yellowness)value,and a decrease in hardness.A total of 65 VOCs were identified during storage.Correlation between bacterial succession and quality indicators(including VOCs and physicochemical properties)allowed the identification of 26 core dominant bacteria,including S.proteamaculans,Psychrobacter alimentarius,Pseudomonas putida,and Pseudomonas poae,which were positively related to spoilage VOCs(e.g.,1-octen-3-ol,1-pentanol,and 3-methyl-1-butanol)and could be defined as specific spoilage organisms(SSOs).The results of this study provide a systematic approach to predict SSOs in smoked chicken legs during storage,which can also provide a basis for product safety.展开更多
BACKGROUND Leg length discrepancy(LLD)following total hip arthroplasty(THA)is a common complaint,leading to decreased patient satisfaction.However,the effect of LLD before THA on outcomes and complications is not well...BACKGROUND Leg length discrepancy(LLD)following total hip arthroplasty(THA)is a common complaint,leading to decreased patient satisfaction.However,the effect of LLD before THA on outcomes and complications is not well defined.AIM To assess the effect of prior LLD on rates of falls,implant-related complications,stay length,readmissions,and implant survival following THA.METHODS A retrospective review of a nationwide insurance database was conducted from 2010 to 2021.All cases of THA and those with a prior diagnosis of LLD were identified.THA patients with LLD were matched to control patients 1:5 based on demographic and comorbidity profiles.Two-year fall rates and implant complications,lengths of stay,90-day readmissions,and time to revision were compared between cohorts.RESULTS A total of 2038 patients with LLD were matched to 10165 control patients.The LLD group showed significantly greater rates of falls[odds ratio(OR)=1.58;95%confidence interval(95%CI):1.24-2.01],dislocation(OR=2.61;95%CI:2.10-3.24),mechanical loosening(OR=4.58;95%CI:3.28-6.29),and periprosthetic fracture(OR=2.70;95%CI:1.96-3.72)compared to the control group(all P<0.001).Mean length of stay(LOS)was also significantly higher in the LLD group(3.1 days vs 2.8 days,P=0.034).No significant difference in 90-day readmission rates(7.75%vs 7.02%,P=0.244)was observed between the groups(P=0.244).Time to revision was significantly less in the LLD group(225 days vs 544 days,P<0.001).CONCLUSION LLD in patients having THA is related with significantly higher fall risk,rates of implant-related complications,LOS,and quicker time to revision.Identifying patients with LLD before their THA may help in identifying risks,better patient counselling,and more effective preoperative planning.However,the study have important limitations:Its design lacks information on the degree and cause of LLD,the time between diagnosis and surgery,and which leg with the discrepancy underwent the operation.Future well-designed studies should confirm the findings of this study.展开更多
The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on th...The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.展开更多
Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robot...Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.展开更多
The working platforms supported with multiple extensible legs must be leveled before they come into operation.Although the supporting stiffness and reliability of the platform are improved with the increasing number o...The working platforms supported with multiple extensible legs must be leveled before they come into operation.Although the supporting stiffness and reliability of the platform are improved with the increasing number of the supporting legs,the increased overdetermination of the multi-leg platform systems leads to leveling coupling problem among legs and virtual leg problem in which some of the supporting legs bear zero or quasi zero loads.These problems make it quite complex and time consuming to level such a multi-leg platform.Based on rigid body kinematics,an approximate equation is formulated to rapidly calculate the leg extension for leveling a rigid platform,then a proportional speed control strategy is proposed to reduce the unexpected platform distortion and leveling coupling between supporting legs.Taking both the load coupling between supporting legs and the elastic flexibility of the working platform into consideration,an optimal balancing legs’ loads(OBLL) model is firstly put forward to deal with the traditional virtual leg problem.By taking advantage of the concept of supporting stiffness matrix,a coupling extension method(CEM) is developed to solve this OBLL problem for multi-leg flexible platform.At the end,with the concept of supporting stiffness matrix and static transmissibility matrix,an optimal load balancing leveling method is proposed to achieve geometric leveling and legs’ loads balancing simultaneously.Three numerical examples are given out to illustrate the performance of proposed methods.This paper proposes a method which can effectively quantify all of the legs’ extension at the same time,achieve geometric leveling and legs’ loads balancing simultaneously.By using the proposed methods,the stability,precision and efficiency of auto-leveling control process can be improved.展开更多
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(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The jack-up unit is one of the best drilling platforms in offshore oil fields with water depth shallower than 150 meters.As the most pivotal component of the jack-up unit,the leg system can directly affect the global performance of a jack-up unit.Investigation shows that there are three kinds of leg structure forms in the world now:the reverse K,X,and mixing types.In order to clarify the advantage and defects of each one,as well as their effect on the global performance of the jack-up unit,this paper commenced to study performance targets ofa deepwater jack-up unit with different leg systems(X type,reverse K type,and mixing type).In this paper a typical leg scantling dimension and identical external loads were selected,detailed finite element snalysis(FEA)models were built to simulate the jack-up unit's structural behavior,and the multi-point constraint(MPC)element together with the spring element was used to deal with the boundary condition.Finally,the above problems were solved by comparative analysis of their main performance targets(including ultimate static strength,dynamic response,and weight).
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.
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 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.
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.
文摘This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.
基金funded by the National Natural Science Foundation of China(U22A20547)the Major Science and Technology Projects of Heilongjiang Province(2021ZX12B05 and 2020ZX07B02)。
文摘The present study monitored bacterial succession,physicochemical properties,and volatile organic compounds(VOCs)changes in smoked chicken legs with modified atmosphere packaging(MAP,60% CO_(2) and 40%N_(2))during a 25-day storage period at 4℃.After 15 days of storage,S erratia proteamaculans and Pseudomonas fragi became the predominant bacteria.Furthermore,physicochemical properties changed significantly,as evidenced by an increase in thiobarbituric acid reactive substances and b*(yellowness)value,and a decrease in hardness.A total of 65 VOCs were identified during storage.Correlation between bacterial succession and quality indicators(including VOCs and physicochemical properties)allowed the identification of 26 core dominant bacteria,including S.proteamaculans,Psychrobacter alimentarius,Pseudomonas putida,and Pseudomonas poae,which were positively related to spoilage VOCs(e.g.,1-octen-3-ol,1-pentanol,and 3-methyl-1-butanol)and could be defined as specific spoilage organisms(SSOs).The results of this study provide a systematic approach to predict SSOs in smoked chicken legs during storage,which can also provide a basis for product safety.
文摘BACKGROUND Leg length discrepancy(LLD)following total hip arthroplasty(THA)is a common complaint,leading to decreased patient satisfaction.However,the effect of LLD before THA on outcomes and complications is not well defined.AIM To assess the effect of prior LLD on rates of falls,implant-related complications,stay length,readmissions,and implant survival following THA.METHODS A retrospective review of a nationwide insurance database was conducted from 2010 to 2021.All cases of THA and those with a prior diagnosis of LLD were identified.THA patients with LLD were matched to control patients 1:5 based on demographic and comorbidity profiles.Two-year fall rates and implant complications,lengths of stay,90-day readmissions,and time to revision were compared between cohorts.RESULTS A total of 2038 patients with LLD were matched to 10165 control patients.The LLD group showed significantly greater rates of falls[odds ratio(OR)=1.58;95%confidence interval(95%CI):1.24-2.01],dislocation(OR=2.61;95%CI:2.10-3.24),mechanical loosening(OR=4.58;95%CI:3.28-6.29),and periprosthetic fracture(OR=2.70;95%CI:1.96-3.72)compared to the control group(all P<0.001).Mean length of stay(LOS)was also significantly higher in the LLD group(3.1 days vs 2.8 days,P=0.034).No significant difference in 90-day readmission rates(7.75%vs 7.02%,P=0.244)was observed between the groups(P=0.244).Time to revision was significantly less in the LLD group(225 days vs 544 days,P<0.001).CONCLUSION LLD in patients having THA is related with significantly higher fall risk,rates of implant-related complications,LOS,and quicker time to revision.Identifying patients with LLD before their THA may help in identifying risks,better patient counselling,and more effective preoperative planning.However,the study have important limitations:Its design lacks information on the degree and cause of LLD,the time between diagnosis and surgery,and which leg with the discrepancy underwent the operation.Future well-designed studies should confirm the findings of this study.
基金Supported by National Natural Science Foundation of China(Grant No.51735009).
文摘The paper proposes a novel multi-legged robot with pitch adjustive units aiming at obstacle surmounting.With only 6 degrees of freedom,the robot with 16 mechanical legs walks steadily and surmounts the obstacles on the complex terrain.The leg unit with adjustive pitch provides a large workspace and empowers the legs to climb up obstacles in large sizes,which enhances the obstacle surmounting capability.The pitch adjustment in leg unit requires as few independent adjusting actuators as possible.Based on the kinematic analysis of the mechanical leg,the biped and quadruped leg units with adjustive pitch are analyzed and compared.The configuration of the robot is designed to obtain a compact structure and pragmatic performance.The uncertainty of the obstacle size and position in the surmounting process is taken into consideration and the parameters of the adjustments and the feasible strategies for obstacle surmounting are presented.Then the 3D virtual model and the robot prototype are built and the multi-body dynamic simulations and prototype experiments are carried out.The results from the simulations and the experiments show that the robot possesses good obstacle surmounting capabilities.
基金This work was supported by the National Natural Science Foundation of China(NO.52175069).
文摘Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.
基金supported by Shandong Provincial Natural Science Foundation of China(Grant No.ZR2010EL003)
文摘The working platforms supported with multiple extensible legs must be leveled before they come into operation.Although the supporting stiffness and reliability of the platform are improved with the increasing number of the supporting legs,the increased overdetermination of the multi-leg platform systems leads to leveling coupling problem among legs and virtual leg problem in which some of the supporting legs bear zero or quasi zero loads.These problems make it quite complex and time consuming to level such a multi-leg platform.Based on rigid body kinematics,an approximate equation is formulated to rapidly calculate the leg extension for leveling a rigid platform,then a proportional speed control strategy is proposed to reduce the unexpected platform distortion and leveling coupling between supporting legs.Taking both the load coupling between supporting legs and the elastic flexibility of the working platform into consideration,an optimal balancing legs’ loads(OBLL) model is firstly put forward to deal with the traditional virtual leg problem.By taking advantage of the concept of supporting stiffness matrix,a coupling extension method(CEM) is developed to solve this OBLL problem for multi-leg flexible platform.At the end,with the concept of supporting stiffness matrix and static transmissibility matrix,an optimal load balancing leveling method is proposed to achieve geometric leveling and legs’ loads balancing simultaneously.Three numerical examples are given out to illustrate the performance of proposed methods.This paper proposes a method which can effectively quantify all of the legs’ extension at the same time,achieve geometric leveling and legs’ loads balancing simultaneously.By using the proposed methods,the stability,precision and efficiency of auto-leveling control process can be improved.
