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- 저자 : Qiancheng Zhao (검색결과 2 건)
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Hualong Xie,Xiaofei Zhao,Qiancheng Sun,Kun Yang,Fei Li 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.1
Our research team combined humanoid robots with intelligent lower limb prostheses to study the dynamic characteristics of intelligent lower extremity prostheses for disabled people in the walking process, and proposed a biped robot with heterogeneous legs (BRHL). This paper proposes a new virtual-real inverted pendulum system model to unify the models for both single support phase and double support phase in walking process and builds a special simulation platform which can acquire the real-time center of mass (COM) trajectory. Initially, a gravity-compensated inverted pendulum model was built and improved the stability of gait, a natural ZMP trajectory improved the anthropomorphism of the gait. Furthermore, in double support phase, a virtual inverted pendulum model was established and a virtual-real inverted pendulum model was proposed and used to plan the gait of both single support phase and double support phase in the walking process. Additionally, the joint angles were obtained by inverse kinematics; the stability of the system was analyzed to be feasible and effective by phase trajectories. A special ADAMS simulation platform was built to simulate the walking process and acquire real-time COM trajectory. The feasibility of the gait planning was also verified. Finally, the trajectory of COM was optimized based on the minimum energy criterion according to the geodesic equation.
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Xin Lv,Yelidana Nuertai,Qiwei Wang,Di Zhang,Xumin Hu,Jiabao Liu,Ziliang Zeng,Renyuan Huang,Zhihao Huang,Qiancheng Zhao,Wenpeng Li,Zhilei Zhang,Liangbin Gao 대한척추신경외과학회 2024 Neurospine Vol.21 No.1
Objective: To compare the clinical outcomes and biomechanical characteristics of 1-, 2-, and 3-level pedicle subtraction osteotomy (PSO), and establish selection criteria based on preoperative radiographic parameters. Methods: Patients undergone PSO to treat ankylosing spondylitis from February 2009 to May 2019 in Sun Yat-sen Memorial Hospital of Sun Yat-sen University were enrolled. According to the quantity of osteotomy performed, the participants were divided into group A (1-level PSO, n = 24), group B (2-level PSO, n = 19), and group C (3-level PSO, n = 11). Clinical outcomes were assessed before surgery and at the final follow-up. Comparisons of the radiographic parameters and quality-of-life indicators were performed among and within these groups, and the selection criteria were established by regression. Finite element analysis was conducted to compare the biomechanical characteristics of the spine treated with different quantity of osteotomies under different working conditions. Results: Three-level PSO improved the sagittal parameters more significantly, but resulted in longer operative time and greater blood loss (p < 0.05). Greater stress was found in the proximal screws and proximal junction area of the vertebra in the model simulating 1-level PSO. Larger stress of screws and vertebra was observed at the distal end in the model simulating 3-level PSO. Conclusion: Multilevel PSO works better for larger deformity correction than single-level PSO by allowing greater sagittal parameter correction and obtaining a better distribution of stress in the hardware construct, although with longer operation time and greater blood loss. Three-level osteotomy is recommended for the patients with preoperative of global kyphosis > 85.95°, T1 pelvic angle > 62.3°, sagittal vertical alignment > 299.55 mm, and pelvic tilt+ chin-brow vertical angle > 109.6°.
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