To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands du...To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands during underactuated grasping process. The goal of this paper is to develop a design method of underactuated anthropomorphic hands to guarantee reliable adaption to different grasped objects. An analysis method is developed to investigate the evolution of motion and force in the whole underactuated grasping process. Based on the evolution of motion and force, the underactuated grasping process is decomposed into four aspects including initial contact state, grasp terminal state, grasp trajectory and rate of progress. More- over, the influence factors of such four aspects are found as the form of the combinations of underactuated mechanism pa- rameters. According to the four aspects of the underactuated grasping process, this paper presents a stepwise parameter design method through optimization of parameter combinations step-by-step. The reliable adaptive grasp for a wide scale of grasped object size is achieved. Experimental setups are constructed to corroborate the results from the theory analysis and design.展开更多
The FAIR guiding principles aim to enhance the Findability,Accessibility,Interoperability and Reusability of digital resources such as data,for both humans and machines.The process of making data FAIR(“FAIRification...The FAIR guiding principles aim to enhance the Findability,Accessibility,Interoperability and Reusability of digital resources such as data,for both humans and machines.The process of making data FAIR(“FAIRification”)can be described in multiple steps.In this paper,we describe a generic step-by-step FAIRification workflow to be performed in a multidisciplinary team guided by FAIR data stewards.The FAIRification workflow should be applicable to any type of data and has been developed and used for“Bring Your Own Data”(BYOD)workshops,as well as for the FAIRification of e.g.,rare diseases resources.The steps are:1)identify the FAIRification objective,2)analyze data,3)analyze metadata,4)define semantic model for data(4a)and metadata(4b),5)make data(5a)and metadata(5b)linkable,6)host FAIR data,and 7)assess FAIR data.For each step we describe how the data are processed,what expertise is required,which procedures and tools can be used,and which FAIR principles they relate to.展开更多
目的:探讨改良封闭负压引流(vaccum seal i ng drai nage,VSD)技术在腹部皮瓣供瓣区应用的临床效果。方法:选择2010年2月～2012年1月期间行腹部皮瓣修复手或上肢创面的患者14例,创面大小为15cm×10cm～9cm×5cm。创面清创后行...目的:探讨改良封闭负压引流(vaccum seal i ng drai nage,VSD)技术在腹部皮瓣供瓣区应用的临床效果。方法:选择2010年2月～2012年1月期间行腹部皮瓣修复手或上肢创面的患者14例,创面大小为15cm×10cm～9cm×5cm。创面清创后行腹部随意皮瓣转移,皮瓣长宽比例在2:1以内,面积15cm×12cm～9cm×7cm。供瓣区及皮瓣蒂部裸露区应用医用海绵覆盖,医用半透性粘贴薄膜封闭整个术区。连接负压吸引装置,腹带固定患肢。术后第2天,在医用海绵的远端,刺入静脉输液针,每天500ml生理盐水持续进行灌洗。皮瓣移植14～18天后行皮瓣断蒂术,术后10～12天切口拆线。结果:所有病例皮瓣全部成活,切口甲级愈合13例,乙级愈合1例。9例患者供瓣区通过局部皮瓣转移后,直接缝合,未予植皮。4例患者行局部部分拉拢缝合,缩小创面后,移植皮片覆盖。植皮面积8cm×5cm～5cm×3cm。无VSD装置更换病例。3例患者术后当天出现负压引流区轻度疼痛。其余患者无不适反应。所有病例静脉输液针穿刺孔未发生可见漏气现象,未影响负压引流的正常进行。结论:改良VSD技术延长了VSD装置的使用时间,明显减少了VSD的并发症;改良VSD技术减少了腹部供瓣区的植皮率,降低了术区感染率,简化了腹部皮瓣手术过程。展开更多
文摘To automatically adapt to the shape of different objects with enough grasping force is a challenge in the design of under- actuated anthropomorphic hands, because the grasped object is easily ejected from the hands during underactuated grasping process. The goal of this paper is to develop a design method of underactuated anthropomorphic hands to guarantee reliable adaption to different grasped objects. An analysis method is developed to investigate the evolution of motion and force in the whole underactuated grasping process. Based on the evolution of motion and force, the underactuated grasping process is decomposed into four aspects including initial contact state, grasp terminal state, grasp trajectory and rate of progress. More- over, the influence factors of such four aspects are found as the form of the combinations of underactuated mechanism pa- rameters. According to the four aspects of the underactuated grasping process, this paper presents a stepwise parameter design method through optimization of parameter combinations step-by-step. The reliable adaptive grasp for a wide scale of grasped object size is achieved. Experimental setups are constructed to corroborate the results from the theory analysis and design.
基金The work of A.Jacobsen,R.Kaliyaperumal,M.Roos and M.Thompson is supported by funding from the European Union’s Horizon 2020 research and innovation program under the EJP RD COFUND-EJP N°825575The work of A.Jacobsen,R.Kaliyaperumal,M.Roos and M.Thompson is supported by funding from ELIXIR EXCELERATE,H2020 grant agreement number 676559.M.Roos and M.Thompson received funding from NWO(VWData 400.17.605)H2020-EU 824087.The work of B.Mons and L.O.Bonino da Silva Santos is funded by the H2020-EU 824068 and the GO FAIR ISCO grant of the Dutch Ministry of Science and Culture.
文摘The FAIR guiding principles aim to enhance the Findability,Accessibility,Interoperability and Reusability of digital resources such as data,for both humans and machines.The process of making data FAIR(“FAIRification”)can be described in multiple steps.In this paper,we describe a generic step-by-step FAIRification workflow to be performed in a multidisciplinary team guided by FAIR data stewards.The FAIRification workflow should be applicable to any type of data and has been developed and used for“Bring Your Own Data”(BYOD)workshops,as well as for the FAIRification of e.g.,rare diseases resources.The steps are:1)identify the FAIRification objective,2)analyze data,3)analyze metadata,4)define semantic model for data(4a)and metadata(4b),5)make data(5a)and metadata(5b)linkable,6)host FAIR data,and 7)assess FAIR data.For each step we describe how the data are processed,what expertise is required,which procedures and tools can be used,and which FAIR principles they relate to.
文摘目的:探讨改良封闭负压引流(vaccum seal i ng drai nage,VSD)技术在腹部皮瓣供瓣区应用的临床效果。方法:选择2010年2月～2012年1月期间行腹部皮瓣修复手或上肢创面的患者14例,创面大小为15cm×10cm～9cm×5cm。创面清创后行腹部随意皮瓣转移,皮瓣长宽比例在2:1以内,面积15cm×12cm～9cm×7cm。供瓣区及皮瓣蒂部裸露区应用医用海绵覆盖,医用半透性粘贴薄膜封闭整个术区。连接负压吸引装置,腹带固定患肢。术后第2天,在医用海绵的远端,刺入静脉输液针,每天500ml生理盐水持续进行灌洗。皮瓣移植14～18天后行皮瓣断蒂术,术后10～12天切口拆线。结果:所有病例皮瓣全部成活,切口甲级愈合13例,乙级愈合1例。9例患者供瓣区通过局部皮瓣转移后,直接缝合,未予植皮。4例患者行局部部分拉拢缝合,缩小创面后,移植皮片覆盖。植皮面积8cm×5cm～5cm×3cm。无VSD装置更换病例。3例患者术后当天出现负压引流区轻度疼痛。其余患者无不适反应。所有病例静脉输液针穿刺孔未发生可见漏气现象,未影响负压引流的正常进行。结论:改良VSD技术延长了VSD装置的使用时间,明显减少了VSD的并发症;改良VSD技术减少了腹部供瓣区的植皮率,降低了术区感染率,简化了腹部皮瓣手术过程。
