步态稳健是老年人保持日常基本身体活动的基础,全身振动训练可以帮助改善老年人步态问题.全身振动训练通过多方面机制来改善老年人步态,包括改善肌力下降和肌少症、改善骨质疏松症、提高平衡能力、增强姿势控制、缓解慢性病患者的步态后遗症等方面,本文旨在探讨全身振动训练在改善老年人步态研究中的应用效果,为临床工作者运用新型锻炼方法促进老年人身体健康提供思路.

目的 构建稳定期COPD合并肌少症患者多模式运动方案并评价其应用效果.方法 将76例稳定期COPD患者按照病区分为对照组与干预组各38例.对照组采用COPD常规护理干预;干预组基于证据总结和专家函询构建稳定期COPD合并肌少症患者多模式运动方案,并进行实施.在干预前、干预8周、干预12周比较两组患者肌少症相关指标、呼吸症状、运动耐力、平衡能力及运动依从性.结果 干预组35例、对照组33例完成研究.干预12周,干预组小腿围、6 m步速、5次起坐试验显著优于对照组(均P＜0.05);干预8周、12周后干预组起立-行走计时测试、改良版英国医学研究委员会呼吸困难评分、握力、6分钟步行试验距离及运动依从性显著优于对照组(均P＜0.05).结论 稳定期COPD合并肌少症患者多模式运动方案,可以有效改善肌少症状态和呼吸症状,提高患者运动功能和生活质量.

目的 引进动画活动问卷,并检验其在膝骨关节炎患者中的信效度.方法 通过直译、回译、文化调适和预调查对动画活动问卷进行汉化,形成中文版动画活动问卷.选取326例膝骨关节炎患者进行调查,以评价问卷信效度.结果 中文版动画活动问卷包括步态与行走能力、日常动作行为能力2个维度17个条目.探索性因子分析提取2个公因子,累计方差贡献率为71.145％;验证性因子指标显示,x2/df=2.976,RMSEA=0.095,NFI=0.917,IFI=0.943,TLI=0.931,CFI=0.943,GFI=0.856;条目水平的内容效度指数为0.833～1.000,问卷水平的内容效度指数为0.971.中文版动画活动问卷的总Cronbach's α系数为0.954,Guttman折半信度为0.865.结论 中文版动画活动问卷具有良好的信效度,适应于膝骨关节炎患者活动受限的评估工具.

目的 建立一种基于DeepLabCut(DLC)算法用于评价老年小鼠运动功能的步态分析系统.方法 基于深度学习技术中的DLC算法,采用跑台装置和全封闭设计,构建系统软硬件;应用本系统评价不同运动模式下衰老所致小鼠的步态差异;通过相关性分析探究体质量与体长对步态指标的影响.结果 本系统实现特定步速下小鼠三维立体步态(侧面和腹平面)的同步分析,自动量化47项步态指标.应用本系统发现,步行时(15 cm·s-1),相比2月龄、8月龄和15月龄小鼠体转角标准偏差下降,前肢摆动时长、膝关节(Knee)角度标准偏差、左后爪和右后爪向外角度平均值增加;15月龄小鼠还出现步频降低,步幅、双支撑总时长、Knee伸展和收缩距离增加.小跑时(20 cm·s-1),15月龄小鼠无法稳定行走,相比2月龄,8月龄小鼠左后爪向外角度平均值和双支撑总时长增加.相关性分析发现,步频、步幅、前肢摆动时长、后爪向外角度平均值、双支撑总时长、Knee角度标准偏差、Knee伸展和收缩距离等指标均未受到体质量和体长变化的影响.结论 基于DLC算法的小鼠步态分析系统实现了对老年小鼠步态更加敏感、准确、全面的评价,区分出老年小鼠为维持步态稳定性所表现的步态特征,并筛选出更能反映老年小鼠步态变化的行为指标.为今后更有效评估抗衰老、抗运动协调功能下降药物的药效与副作用提供方法学基础.

The goal of this paper is to develop a unified online motion generation scheme for quadruped lateral-sequence walk and trot gaits based on a linear model predictive control formulation.Specifically,the dynamics of the linear pendulum model is formulated over a predictive horizon by dimensional analysis.Through gait pattern conversion,the lateral-sequence walk and trot gaits of the quadruped can be regarded as unified biped gaits,allowing the dynamics of the linear inverted pendulum model to serve quadruped motion generation.In addition,a simple linearization of the center of pressure constraints for these quadruped gaits is developed for linear model predictive control problem.Furthermore,the motion generation problem can be solved online by quadratic programming with foothold adaptation.It is demonstrated that the proposed unified scheme can generate stable locomotion online for quadruped lateral-sequence walk and trot gaits,both in simulation and on hardware.The results show significant performance improvements compared to previous work.Moreover,the results also suggest the linearly simplified scheme has the ability to robustness against unexpected disturbances.

In order to reduce the labor intensity of high-altitude workers and realize the cleaning and maintenance of high-rise building exteriors,this paper proposes a design for a 4-DOF bipedal wall-climbing bionic robot inspired by the inchworm's movement.The robot utilizes vacuum adsorption for vertical wall attachment and legged movement for locomotion.To enhance the robot's movement efficiency and reduce wear on the adsorption device,a gait mimicking an inchworm's movement is planned,and foot trajectory planning is performed using a quintic polynomial function.Under velocity constraints,foot trajectory optimization is achieved using an improved Particle Swarm Optimization(PSO)algorithm,determining the quintic polynomial function with the best fitness through simulation.Finally,through comparative experiments,the climbing time of the robot closely matches the simulation results,validating the trajectory planning method's accuracy.

This study aims to develop a magnetorheological(MR)damper for semi-active knee prostheses to restore the walking ability of transfemoral amputees.The core dimensions of the MR damper were determined via theoretical magnetic field calcula-tions,and the theoretical relationship between current and joint torque was derived through electromagnetic simulation.Then,a physical prototype of the semi-active prosthetic knee equipped with the MR damper was manufactured.Based on the data obtained from angle sensor,pressure sensor(loadcell),and inertial measurement unit(IMU)on the prosthesis,a matching control algorithm is developed.The joint torque of the MR damper can be adaptively adjusted according to the walking speed of the amputee,allowing the amputee to realize a natural gait.The effectiveness of the control program was verified by the ADAMS and MATLAB co-simulation.The results of the test and simulation show that the MR damper can provide sufficient torque needed for normal human activities.

目的:探讨直接前入路(DAA)全髋关节置换术(THA)对老年股骨粗隆间骨折(IFF)患者的影响.方法:选取 2022年 3月—2023年 8月日照市中心医院收治的 64例老年IFF患者为研究对象,按照随机数字表法将患者分为对照组和研究组,各 32例.对照组采用传统后外侧入路THA治疗,研究组采用DAA-THA治疗.统计两组围手术期指标、步态指标、髋关节功能、骨代谢指标及并发症发生情况.结果:研究组手术时间长于对照组,切口长度、住院时间均短于对照组,术中出血量少于对照组,差异均有统计学意义(P<0.05).术后 6个月,研究组步频高于对照组,步速快于对照组,步长长于对照组,Harris髋关节功能评分量表各项评分、骨钙素均高于对照组,抗酒石酸酸性磷酸酶-5b及Ⅰ型胶原C端肽均低于对照组,差异均有统计学意义(P<0.05).研究组并发症发生率为 6.25%,低于对照组的 25.00%,差异有统计学意义(P<0.05).结论:在老年IFF患者中采用DAA-THA治疗效果显著,可改善患者步态、骨代谢指标及髋关节功能,减少并发症.

In order to strike a balance between achieving desired velocities and minimizing energy consumption,legged animals have the ability to adopt the appropriate gait pattern and seamlessly transition to another if needed.This ability makes them more versatile and efficient when traversing natural terrains,and more suitable for long treks.In the same way,it is meaningful and important for quadruped robots to master this ability.To achieve this goal,we propose an effective gait-heuristic rein-forcement learning framework in which multiple gait locomotion and smooth gait transitions automatically emerge to reach target velocities while minimizing energy consumption.We incorporate a novel trajectory generator with explicit gait infor-mation as a memory mechanism into the deep reinforcement learning framework.This allows the quadruped robot to adopt reliable and distinct gait patterns while benefiting from a warm start provided by the trajectory generator.Furthermore,we investigate the key factors contributing to the emergence of multiple gait locomotion.We tested our framework on a closed-chain quadruped robot and demonstrated that the robot can change its gait patterns,such as standing,walking,and trotting,to adopt the most energy-efficient gait at a given speed.Lastly,we deploy our learned controller to a quadruped robot and demonstrate the energy efficiency and robustness of our method.

目的 研究帕宁Ⅰ号方对帕金森病(PD)小鼠多巴胺能神经元氧化应激介导的铁死亡途径的影响,探讨帕宁Ⅰ号方治疗PD的作用机制.方法 SPF级C57/BL6小鼠60只,腹腔注射1-甲基-4-苯基-1,2,3,6-四氢吡啶(MPTP)诱导PD模型.将50只造模成功的小鼠随机分为模型组[氯化钠溶液(9 g/L)]、美多芭组(97.5 mg/kg多巴丝肼溶液)及中药低、中、高剂量组(9.05 g/kg、18.10 g/kg、36.20 g/kg帕宁Ⅰ号方),每组10只;另设正常组10只.小鼠灌胃给予相应干预,连续干预14 d.采用爬杆实验、步态实验、旷场实验分析评价小鼠运动功能.采用尼氏染色法检测小鼠黑质神经元活性,酶联免疫吸附试验(ELISA)检测小鼠纹状体多巴胺(DA)、3,4-二羟基苯乙酸(DOPAC)、3-甲氧基4-羟基苯乙酸(HVA)含量,免疫组织化学法检测小鼠黑质酪氨酸羟化酶(TH)表达,普鲁士蓝染色法检测小鼠黑质Fe3+沉积情况,比色法检测小鼠黑质Fe2+含量、过氧化氢酶(CAT)、谷胱甘肽(GSH)、谷胱甘肽过氧化物酶(GSH-PX)、丙二醛(MDA)、超氧化物歧化酶(SOD)水平,流式细胞术检测小鼠多巴胺能神经元活性氧(ROS)水平,Western blot法检测小鼠黑质酰基辅酶A合成酶长链家族成员4(ACSL4)、谷胱甘肽过氧化物酶4(GPX4)、溶质运载蛋白7家族成员11(SLC7A11)蛋白表达.结果 ①运动功能结果显示,与正常组相比,模型组小鼠步长缩短,行动总距离缩短,爬杆时间延长(P<0.01);与模型组相比,各药物组运动功能障碍随灌胃次数的增加而逐渐减轻,到灌胃后第12天时各项运动功能改善最为明显(P<0.05).②尼氏染色结果显示,与正常组相比,模型组小鼠黑质神经元平均光密度表达减少(P<0.01);与模型组相比,中药中、高剂量组与美多芭组神经元平均光密度表达增加(P<0.01,P<0.001).③ELISA结果显示,与正常组相比,模型组小鼠纹状体DA、DOPAC、HVA含量减少(P<0.001);与模型组相比,美多芭组与中药高剂量组DA含量增加(P<0.001),美多芭组与中药中、高剂量组DOPAC、HVA含量增加(P<0.05,P<0.001).④免疫组织化学法结果显示,与正常组相比,模型组小鼠黑质TH表达减少(P<0.001);与模型组相比,美多芭组与中药高剂量组TH表达增多(P<0.01,P<0.001).⑤普鲁士蓝染色显示,与正常组相比,模型组小鼠黑质铁沉积增多,铁死亡增加;与模型组相比,各药物组铁沉积减少,铁死亡减轻.⑥比色法结果显示,与正常组相比,模型组Fe2+含量增加(P<0.001),CAT、GSH-PX、SOD活性降低(P<0.001),GSH水平降低(P<0.001),MDA水平升高(P<0.01);与模型组相比,美多芭组及中药中、高剂量组Fe2+含量减少(P<0.05,P<0.001)、GSH-PX活性与GSH水平升高(P<0.05,P<0.001),美多芭组CAT活性升高(P<0.05)、MDA水平降低(P<0.05),美多芭组与中药高剂量组SOD活性升高(P<0.05).⑦流式细胞术结果显示,与正常组相比,模型组小鼠黑质ROS水平升高(P<0.001);与模型组相比,美多芭组与中药高剂量组ROS水平降低(P<0.01).⑧Western blot结果显示,与正常组相比,模型组小鼠黑质ACSL4蛋白表达升高(P<0.001),GPX4、SLC7A11蛋白表达降低(P<0.001);与模型组相比,各药物组ACSL4蛋白表达降低(P<0.05,P<0.001),GPX4、SLC7A11蛋白表达升高(P<0.01,P<0.001).结论 帕宁Ⅰ号方可减轻MPTP诱导的PD小鼠运动功能障碍,具有神经保护作用,其机制可能与调节铁代谢、改善氧化应激、抑制多巴胺能神经元铁死亡有关.