单关节

通过数值算例，验证了机械手末端姿态γ不加限制时，这种单关节故障的一般6R机械手位置反解的个数是16。

Through numerical computing example , it was verified that the number of position reverse solutions is 16 for this kind of ordinary 6R manipulator with single joint failure when there is no restriction on the posture of manipulator ends .

设计了一个具有单关节的人工肌肉试验系统。

A single joint artificial muscle test system was designed .

研究了单关节的PID控制算法，并对其进行了仿真，得到较理想的结果。

PID control arithmetic about one joint is also discussed and simulated .

实验结果表明，新方法较传统的单关节PID控制在速度、精度方面均有较大提高。

The final experiment results show that , the new method is better than the traditional single PID control in the aspect of speed and accuracy .

应用Sontag的通用公式，设计了全局跟踪控制器，并应用于单关节机器手跟踪参考信号的控制，仿真说明了所提出方法的有效性。

A global tracking controller is designed by using Sontag 's universal . This design is applied to control an one-link robot arm . The simulation result shows the effectiveness of the method .

单关节伺服控制技术研究。

Study on servo control method of each link .

机械手单关节的混合模糊控制模型

Complex fuzzy control model of robotic single joint

方法实验采用佐剂性单关节炎大鼠慢性痛模型，应用放射免疫测定及痛行为评分法。

Methods Model of chronic pains resulting from adjuvant induced arthritis ( AIA ) was established in rats .

针对具有不确定性的直接驱动机器人单关节对象，提出了一种非模型双层控制方法。

The double-layered model-free control method is proposed for the independent joint of the direct drive robot whose dynamics is highly uncertain .

进行了单关节的实验研究，实验结果表明，这种控制系统具有良好的控制性能。

The experiment of a single joint is carried out . The experimental result shows that the control system has g good performance .

在此基础上针对每一种故障模型设计出相应的滑模观测器以实现多传感器故障的检测与隔离，单关节机械手的实例验证了该方法的有效性。

Then , sliding-mode observer is designed in accordance with each kind of fault model to realize multiple sensor failure detection and isolation .

传统的机器人手臂仅含有类似于单关节肌的执行器，而生物的手臂不仅含有单关节肌还含有双关节肌。

Conventional robot arm has only actuators similar to mono-articular muscles , though animals arm has not only mono-articular muscles but also bi-articular muscles .

本文主要阐述了六自由度机械手本体的总体构成及其具体的结构设计，并对机械手单关节位置伺服系统进行了研究。

This paper introduced the constitution and specific design of robot with six DOF and researched the position control system of single joint of robot .

这两套系统能满足多种训练模式，患者不仅可以在单关节运动训练模式下训练，也可以在多关节复合训练模式下进行训练，是适用于家庭康复的训练系统。

The two systems can afford a variety of training mode , the patient can training in a single joint training mode , and also can training in a multi-joint compound training mode .

仿真实验结果证明所提出的方法具有很强的适应性和鲁棒性，以及很好的动态品质。4.针对具有不确定性的直接驱动机器人单关节对象，提出了一种非模型双层控制方法。

Simulation results demonstrate its satisfactory performance and strong robustness . 4 . The double-layered model-free control method is proposed for the independent joint of the direct drive robot whose dynamics is highly uncertain .

多关节肌和单关节肌互相配合，使四肢运动更加协调准确。但是，多关节肌在某些体育动作中会出现主动不足和被动不足现象。

Multiple-joint muscle coordination each other with single-joint muscle , this made the extremities very operate and exact , but multiple-joint muscle appear ( construct insufficient ) and pull insufficient appearance in some sports action .

建立单膝关节类风湿疾病早期的外科诊断标。

To establish surgical diagnosis criteria at the very early stage of disease progression .

单膝关节置换58膝，双膝关节置换7膝。

There were 58 unilateral total knee replacements ( TKR ) and 7 bilateral TKR .

单膝关节和双膝关节置换术围手术期并发症的对比性研究。

Comparative research of complication in perioperative period of single knee joint and double knee joint replacement .

机器人关节通常采用二连杆单轴关节，仿生特性不强。

The joint of robot usually adopts two linked single axle joint that has a non-powerful bionic characteristics .

单手指关节之间利用齿轮-连杆组合机构实现运动的耦合，减少了系统自由度，降低了设计的复杂性和成本，减轻了系统的重量。

The relative motion of finger different joint is coupled through gear-linkages . This design can reduce DOF and complexity of finger system .

结论关节内注射SH配合三花膏外敷治疗膝骨性关节炎的临床疗效优于单用膝关节内注射SH者。

ConclusionThe efficacy of combined therapy of intra-articular injection of SH and SHO for knee osteoarthritis was superior to that of intra-articular injection of SH only .

进一步通过将补偿摄动运动在各单自由度关节上的分配，建立了LXR－Ⅱ型内喷式机器人的误差补偿模型。对系统补偿前后的位姿精度进行了仿真。

Form distributing the compensation perturbation movement over each single freedom joint , the error compensation model for LXR ⅱ Robot is established and simulated .

单髁膝关节置换术后髌腱长度的变化

Change of Length of Patellar Tendon after Unicompartmental Knee Arthroplasty

单膝类风湿关节炎的早期诊断

Early Diagnosis of Single Knee Rheumatoid Arthritis

即使甲基强的松龙单次进行关节内注射时，也可引起短暂的抑制。

Even a single intraarticular injection of methylprednisolone can cause transient suppression [ 15 ] .

提出了一种以单自由度关节连动式仿人手指为基础的条件自适应手指设计方案。

In the thesis a conditional self-adaptive finger design method based on the apery finger of the single-degree of freedom arthrosis is forwarded .

在单支撑时期各关节角度变化基本一致。

In the single support period , each joint angles changes in the same way .