骨关节炎(Osteoarthritis,OA)是最常见的退行性关节疾病,其特征是关节软骨的进行性退化和软骨下骨的重塑以及骨赘的形成,临床上引起关节疼痛、功能障碍,甚至残疾.关节软骨细胞外基质(Extracellular Matrix,ECM)分解代谢的增加是OA发生发展的关键因素.ECM的主要成分是蛋白聚糖、Ⅱ型胶原和非胶原蛋白,其在合成或降解过程中一些特定的碎片得以释放到体循环中.随着分子生物学的发展,这些释放出来的可溶性物质作为生物标志物,正在被探索作为早期骨关节炎诊断、监测疾病进展、评估疗效和判断预后的非放射学选择,并越来越受到重视.OA病理进展第一阶段的特征是软骨基质的蛋白分解,因此,为了识别早期骨关节炎患者以及了解软骨退变程度,揭示OA病情,近些年的研究聚焦于蛋白聚糖、Ⅱ型胶原及非胶原蛋白的可溶性代谢产物.本文对近年来研究中反映关节软骨早期退变的生物学标志物进行系统综述.

作为柔性驱动器,热致收缩聚合物人工肌肉具有高柔软性而易驱动的特点,但是这样的特点会导致其易于发生轴向变形,使得其面临抗拉刚度不足,而无法稳定保持其形态.基于这一情况,本文研究了人工肌肉变刚度特性,通过实验探究了在小预拉伸情况下,对人工肌肉进行了不同热收缩时拉力与伸长量之间的关系,分析了其等效抗拉刚度,得到人工肌肉的抗拉刚度提升2倍多.

Artificial muscles made of SCP (super coiled polymer) such as nylon 6 and nylon 6, 6, due to the character of attraction when heated and extension when cool down, have many novel applications as actuators. Using artificial muscles as actuators to take place of actuators like motors in traditional engineering designs has advantages such as reducing the size and weight of the model. But when applied to symmetrical structures, artificial muscles need to be assigned symmetrically, attentions should be paid that some of none heated muscles in working states may work as loads while some of other muscles are heated. Taking hyperredundant robot joint, which is a typical model of symmetrical structure, as an example. Motors, cables and springs of traditional hyperredundant robot can be replaced by SCP artificial muscles as actuators, which enables the reduction of structure size, reducing the number of components and the cost of model. But unavoidable, in this symmetrical structure, when muscle of one side is heated and contracting will leads to the extension of muscle on the opposite side. Under this circumstance, the side effect of the extended muscle is not negligible and needed to be analyzed. In this article, the model simplification and design of symmetrical structure of hyperredundant robot joint which SCP artificial muscles are applied to and the force analysis method of the structure are demonstrated. By calculation, the feasibility of replacements of SCP artificial muscles in the symmetrical structure are inferred. A 3D printed model is made and experiment result shows that SCP artificial muscles can be applied to symmetrical structure.