The adaptive motion control method for bio-inspired hexapod robot is explored based on bionics principles,as well as the limb structure and behavioral characteristics of tarantulas.Firstly,a bionic kinematic model for a single leg of the robot is established using the Denavit-Hartenberg method combined with mechanical parameters.The forward and inverse kinematic expressions are derived,and the triangular gait of the hexapod robot is implemented through composite cycloid trajectory planning.Subsequently,inspired by biological tactile sense and biological vestibular balance mechanisms,force sensors and inertial measurement unit are employed to acquire force control and posture information of the hexapod robot,followed by fusion processing,which enables the robot to perceive environmental changes and adjust its trajectory in real time.A motion control model integrating hybrid gaits is proposed to enhance the robot's environmental perception and adaptability.Finally,a semi-physical simulation experimental platform is constructed to verify the effectiveness and reliability of the proposed model.Experimental results demonstrate that this model can significantly improve the motion stability and traversal efficiency of the robot in complex and rugged terrains,providing robust support for the application of bio-inspired adaptive control methods in multi-legged robots.

The adaptive motion control method for bio-inspired hexapod robot is explored based on bionics principles,as well as the limb structure and behavioral characteristics of tarantulas.Firstly,a bionic kinematic model for a single leg of the robot is established using the Denavit-Hartenberg method combined with mechanical parameters.The forward and inverse kinematic expressions are derived,and the triangular gait of the hexapod robot is implemented through composite cycloid trajectory planning.Subsequently,inspired by biological tactile sense and biological vestibular balance mechanisms,force sensors and inertial measurement unit are employed to acquire force control and posture information of the hexapod robot,followed by fusion processing,which enables the robot to perceive environmental changes and adjust its trajectory in real time.A motion control model integrating hybrid gaits is proposed to enhance the robot's environmental perception and adaptability.Finally,a semi-physical simulation experimental platform is constructed to verify the effectiveness and reliability of the proposed model.Experimental results demonstrate that this model can significantly improve the motion stability and traversal efficiency of the robot in complex and rugged terrains,providing robust support for the application of bio-inspired adaptive control methods in multi-legged robots.

In response to the demand for portable and rapid measurement in normalized nutritional metabolism monitoring,a low-power and multifunctional measurement method and system scheme based on indirect calorimetry is proposed. Firstly,a combination of Kalman and the 5th order Bessel filtering algorithm is used to preprocess the real-time data of oxygen,carbon dioxide,flow rate and electrocardiogram,and the cumulative amount of gas per unit time is obtained. Secondly,a rapid nutrient metabolism measurement method that considers resting analyses of electrocardiogram and respiratory waves is designed,and a calculation model for energy metabolism parameters is constructed. Then,a dedicated collection and analysis circuit system is developed to transmit data to the upper computer or cloud through wireless networks,achieving intelligent and networked design. Finally,the resting state of the subjects is determined by analyzing electrocardiogram and respiratory parameters,and the test of monitoring nutrient metabolism is completed. The results show that the system can effectively detect metabolism related physiological signals with high precision,and achieve accurate measurement of human fat and sugar consumptions on metabolism,providing an effective means for measuring human metabolic energy.

In response to the demand for portable and rapid measurement in normalized nutritional metabolism monitoring,a low-power and multifunctional measurement method and system scheme based on indirect calorimetry is proposed. Firstly,a combination of Kalman and the 5th order Bessel filtering algorithm is used to preprocess the real-time data of oxygen,carbon dioxide,flow rate and electrocardiogram,and the cumulative amount of gas per unit time is obtained. Secondly,a rapid nutrient metabolism measurement method that considers resting analyses of electrocardiogram and respiratory waves is designed,and a calculation model for energy metabolism parameters is constructed. Then,a dedicated collection and analysis circuit system is developed to transmit data to the upper computer or cloud through wireless networks,achieving intelligent and networked design. Finally,the resting state of the subjects is determined by analyzing electrocardiogram and respiratory parameters,and the test of monitoring nutrient metabolism is completed. The results show that the system can effectively detect metabolism related physiological signals with high precision,and achieve accurate measurement of human fat and sugar consumptions on metabolism,providing an effective means for measuring human metabolic energy.

Hepatolenticular degeneration, also known as Wilson's disease, is a type of autosomal recessive genetic disorder of copper metabolism. The causative gene, ATP7B, is located on the long arm of chromosome 13 and encodes a P-type ATPase that is involved in copper transport. Pathogenic mutations in the ATP7B gene sequence lead to the diminished or lost function of the ATP7B protein, resulting in pathological copper deposition in organs such as the liver, brain, kidneys, and cornea. Currently, the treatment of Wilson's disease primarily involves oral medications to promote copper excretion or reduce copper absorption so as to alleviate the state of illness. However, pharmacological treatment has objective limitations, including the need for lifelong therapy and varying degrees of adverse drug reactions in some patients. Gene therapy can fully correct the genetic defect, restore ATP7B protein function, achieve a curative effect, and improve the patient's quality of life.

OBJECTIVE: To investigate the effectiveness of Youngswick-Akin osteotomy in the treatment of moderate hallux valgus combined with mild to moderate hallux rigidus. METHODS: The clinical data of 43 patients with moderate hallux valgus combined with mild to moderate hallux rigidus who were admitted between August 2019 and August 2022 and met the selection criteria were retrospectively analyzed. There were 8 males and 35 females. The age ranged from 28 to 77 years, with an average age of 59.0 years. The disease duration ranged from 10 to 35 months, with an average of 20 months. The degree of hallux rigidus included 2 cases of CoughlinⅠ degree, 29 cases of Ⅱ degree, 12 cases of Ⅲ degree. The preoperative hallux valgus angle ranged from 25° to 40°, with an average of 32°. All patients were treated with Youngswick-Akin osteotomy. The first metatarsophalangeal joint space was compared before operation and at 6 months after operation. The American Orthopaedic Foot and Ankle Society (AOFAS) score and visual analogue scale (VAS) score were used to evaluate the functional recovery and pain relief of the patients before operation and at 6 and 24 months after operation. According to the severity of hallux rigidus, the patients were divided into mild group (Ⅰ, Ⅱ degree) and moderate group (Ⅲ degree) to compare the prognosis, including the changes of AOFAS score, VAS score, and the first metatarsophalangeal joint space. RESULTS: The operation time was 60-75 minutes (mean, 65 minutes). The intraoperative blood loss was 10-30 mL (mean, 20 mL). Two cases had superficial infection of the incision margin after operation, and healed well after dressing change and antibiotic treatment. The incisions of the other patients healed by first intention, and no medial cutaneous nerve injury of the great toe occurred. All patients were followed up 24-31 months, with an average of 25.8 months. The patient's hallux valgus deformity was corrected without recurrence; no complication such as osteomyelitis and hallux varus occurred. The AOFAS score, VAS score, and the first metatarsophalangeal joint space after operation significantly improved when compared with those before operation, the AOFAS score and VAS score at 24 months after operation further improved when compared with those at 6 months after operation, and the differences were significant ( P<0.05). The change of VAS score in mild group was significantly better than that in moderate group ( P<0.05); but there was no significant difference in the changes of AOFAS score and the first metatarsophalangeal joint space between the two groups ( P>0.05). CONCLUSION Youngswick-Akin osteotomy for moderate valgus deformity with mild to moderate hallux rigidus can achieve good functional recovery, pain relief, and joint space improvement.
Humans ; Osteotomy/methods* ; Hallux Valgus/diagnostic imaging* ; Male ; Female ; Middle Aged ; Hallux Rigidus/diagnostic imaging* ; Retrospective Studies ; Adult ; Aged ; Treatment Outcome ; Metatarsophalangeal Joint/surgery*

Hepatolenticular degeneration, also known as Wilson's disease, is a type of autosomal recessive genetic disorder of copper metabolism. The causative gene, ATP7B, is located on the long arm of chromosome 13 and encodes a P-type ATPase that is involved in copper transport. Pathogenic mutations in the ATP7B gene sequence lead to the diminished or lost function of the ATP7B protein, resulting in pathological copper deposition in organs such as the liver, brain, kidneys, and cornea. Currently, the treatment of Wilson's disease primarily involves oral medications to promote copper excretion or reduce copper absorption so as to alleviate the state of illness. However, pharmacological treatment has objective limitations, including the need for lifelong therapy and varying degrees of adverse drug reactions in some patients. Gene therapy can fully correct the genetic defect, restore ATP7B protein function, achieve a curative effect, and improve the patient's quality of life.

Epimedin B(EB)is one of the main flavonoid ingredients present in Epimedium brevicornum Maxim.,a traditional herb widely used in China.Our previous study showed that EB was a stronger inducer of melanogenesis and an activator of tyrosinase(TYR).However,the role of EB in melanogenesis and the mechanism underlying the regulation remain unclear.Herein,as an extension to our previous investi-gation,we provide comprehensive evidence of EB-induced pigmentation in vivo and in vitro and eluci-date the melanogenesis mechanism by assessing its effects on the TYR family of proteins(TYRs)in terms of expression,activity,and stability.The results showed that EB increased TYRs expression through microphthalmia-associated transcription factor-mediated p-Akt(referred to as protein kinase B(PKB))/glycogen synthase kinase 3β(GSK3β)/β-catenin,p-p70 S6 kinase cascades,and protein 38(p38)/mitogen-activated protein(MAP)kinase(MAPK)and extracellular regulated protein kinases(ERK)/MAPK pathways,after which EB increased the number of melanosomes and promoted their maturation for melanogenesis in melanoma cells and human primary melanocytes/skin tissues.Furthermore,EB exerted repigmentation by stimulating TYR activity in hydroquinone-and N-phenylthiourea-induced TYR inhibitive models,including melanoma cells,zebrafish,and mice.Finally,EB ameliorated monobenzone-induced depigmentation in vitro and in vivo through the enhancement of TYRs stability by inhibiting TYR misfolding,TYR-related protein 1 formation,and retention in the endoplasmic reticulum and then by downregulating the ubiquitination and proteolysis processes.These data conclude that EB can target TYRs and alter their expression,activity,and stability,thus stimulating their pigmentation function,which might provide a novel rational strategy for hypopigmentation treatment in the pharmaceutical and cosmetic industries.

A foot trajectory control method is proposed for biomimetic robot.Compared with traditional methods,the method uses a single CPG neuron to directly apply the foot trajectory generated by the oscillator to the hexapod robot.The joint angles is solved reversely for realizing the rhythmic foot swing,thereby achieving lateral walking.The step distance and step amplitude in foot trajectory,and the forward and backward swing trajectories during the swing phase can be adjusted by setting the load factor,period,amplitude and other parameters in the CPG oscillator.The feasibility of applying the improved Hopf model to foot trajectory is verified through the joint simulation using Matlab and Coppeliasim.Compared with traditional methods,the improved model has high flexibility in parameter adjustment and performs well in concurrency processing.

Objective:We aimed to develop a novel visualized model based on nomogram to predict postoperative overall survival.Methods:This was a multicenter, retrospective, observational cohort study, including participants with histologically confirmed gastric and colorectal cancer who underwent radical surgery from 11 medical centers in China from August 1, 2015 to June 30, 2018. Baseline characteristics, histopathological data and nutritional status, as assessed using Nutrition Risk Screening 2002 (NRS 2002) score and the scored Patient-Generated Subjective Global Assessment, were collected. The least absolute shrinkage and selection operator regression and Cox regression were used to identify variables to be included in the predictive model. Internal and external validations were performed.Results:There were 681 and 127 patients in the training and validation cohorts, respectively. A total of 188 deaths were observed over a median follow-up period of 59 (range: 58 to 60) months. Two independent predictors of NRS 2002 and Tumor-Node-Metastasis (TNM) stage were identified and incorporated into the prediction nomogram model together with the factor of age. The model's concordance index for 1-, 3- and 5-year overall survival was 0.696, 0.724, and 0.738 in the training cohort and 0.801, 0.812, and 0.793 in the validation cohort, respectively.Conclusions:In this study, a new nomogram prediction model based on NRS 2002 score was developed and validated for predicting the overall postoperative survival of patients with gastric colorectal cancer. This model has good differentiation, calibration and clinical practicability in predicting the long-term survival rate of patients with gastrointestinal cancer after radical surgery.