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Screening Test Robot for Functional Decline of Shoulder Joint
Keita Kamada,Noritaka Sato,Yoshifumi Morita,Hiroyuki Ukai,Kenji Komori,Shinya Taguchi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
In this paper, we propose a screening test robot for prevention and early detection of functional decline of the shoulder joint. For this purpose, we used a three-dimensional reaction force display robot (3D robot) that executed a method for quantitatively evaluating shoulder joint functions. We focused on two shoulder joint functions: one is flexibility/stability, and the other is cooperativeness. In the screening test for functional decline of flexibility/stability, the 3D robot measured the maximum isometric force exerted on the brace of the 3D robot by a subject. In the screening test for functional decline in cooperativeness, the 3D robot measured the maximum isokinetic force exerted on the brace by the subject and the rotational angle of the upper limb during the testing motion. We propose procedures for implementing the two kinds of screening tests using the 3D robot, and we developed a control method. We verified the effectiveness of the proposed screening robot in executing these procedures, the control method, and the quantitative evaluation method.
Cho, Namchul,Zhou, Gang,Kamada, Kenji,Kim, Ran Hee,Ohta, Koji,Jin, Sung-Ho,Mü,llen, Klaus,Lee, Kwang-Sup The Royal Society of Chemistry 2012 Journal of materials chemistry Vol.22 No.1
<p>Novel two-photon absorption (TPA) chromophores that contain spirofluorene and ladder-type pentaphenylenes (LPPs) as π-centres with diarylamine groups as electron donors (D) in the D–π–D arrangement are prepared. The spirofluorenes with different donors at the both terminals exhibit TPA activity increase as the donor strength increases (from <I>N</I>-ethylcarbazoyl <B>1</B>, triphenylamino <B>2</B>, to <I>N</I>,<I>N</I>-dibutylaminophenyl <B>3</B>). Compared to the spirofluorene derivatives, the LPP derivatives show the larger TPA efficiency due to better coplanarity throughout the molecule. As the LPP unit added from single (<B>4</B>), double (<B>5</B>), to triple (<B>6</B>), the increment of the TPA cross-section exceeds the one-fold of a LPP unit, which can be attributed to the cooperative enhancement of the TPA cross-section (<I>σ</I><SUB>2</SUB>) between the LPP units. We have also explored the effect of introducing charge defects and examined the resonance enhancement by chemical oxidation on the TPA properties of LPP derivatives <B>4</B> and <B>5</B>. Nearly an order of magnitude enhancement was found in the TPA cross-section of dye <B>4</B>, which was interpreted as the role of charge transfer from LPP π-centre to the cationic diarylamine end groups.</p> <P>Graphic Abstract</P><P>We have demonstrated that the unique structural properties of a ladder-type pentaphenylene (LPP) moiety and its cationic states lead to a strong two-photon absorption (TPA) response. <img src='http://pubs.rsc.org/ej/JM/2011/c1jm13481g/c1jm13481g-ga.gif'> </P>