Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.

Abstract: A power converter device includes a first current level, a second current level, a first magnetic layer and a second magnetic layer. The first current level and the second current level are used to load a current loop which has AC current component. The current loop includes a power element module and a conductor coupled to the power element module. The power element module includes at least two electrodes. Voltage among the at least two electrodes is AC voltage. AC current magnitudes of the at least two electrodes are substantially equal and in the opposite direction. The first magnetic layer and the second magnetic layer are used to load a magnetic loop which includes AC magnetic flux component. The first magnetic layer and the second magnetic layer are disposed along two opposite sides of the first current level.

Abstract: A rehabilitation glove based on a bidirectional driver of a honeycomb imitating structure, including five bidirectional drivers and a cotton glove. The drivers are fixed to a back of the glove through hook and loop fasteners. Each driver includes a hollow buckling air bag in a continuous bent state, a middle guide layer in a continuous bent state and a hollow stretching air bag. The buckling air bag and the middle guide layer are symmetrically arranged, and the stretching air bag in a straightened state is arranged below the middle guide layer. A novel bidirectional driver of a honeycomb imitating structure is provided, which may provide a patient with rehabilitation training in two degrees of freedom: buckling and stretching. A control algorithm of the bidirectional driver is further provided to perform force control output for the driver, which may better help the patient recover hand functions.

Abstract: The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration.

Abstract: Provided are a multi-degree-of-freedom myoelectric artificial hand control system and a method for using same. The system comprises a robotic hand, a robotic wrist (2), a stump receiving cavity (1) and a data processor (3), wherein the robotic hand and the stump receiving cavity (1) are respectively mounted on two ends of the robotic wrist (2); a multi-channel myoelectric array electrode oversleeve, a control unit circuit board, and a battery are connected in the stump receiving cavity (1); and the other end of the control unit circuit board is connected to the robotic hand and the robotic wrist (2).

Abstract: A virtual scene interactive rehabilitation training robot based on a lower limb connecting rod model and force sense information and a control method thereof are disclosed. The thigh, calf and foot of a leg of a human body are equated to a three-connecting rod series-connected mechanical arm. A human body leg gravity compensation model is constructed. The leg posture of a patient is detected by Kinect. An interaction force between a limb of the patient and a rehabilitation robot is detected by a force sensor on the rehabilitation robot. Then, a progressive rehabilitation training method is designed for the model. According to a set weight reduction ratio, the motion of the rehabilitation robot is controlled by judging plantar force data.

Abstract: The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration.

Abstract: A virtual reality-based caregiving machine control system includes a visual unit, configured to obtaining environmental information around a caregiving machine, and transmitting the environmental information to a virtual scene generation unit and a calculation unit; the calculation unit, configured to receiving control instructions for the caregiving machine, and obtaining, by calculation according to the environmental information, an action sequence of executing the control instructions by the caregiving machine; the virtual scene generation unit, configured to generating a virtual reality scene from the environmental information, and displaying the virtual reality scene on a touch display screen in combination with the action sequence; and the touch display screen, configured to receiving a touch screen adjusting instruction for the action sequence and feeding back same to the calculation unit for execution, and receiving a confirmation instruction for the action sequence.

Abstract: Brain-computer interface method and system include displaying and providing a motor imagery task to a subject, and collecting a generated digital electroencephalogram signal; reading the digital electroencephalogram signal, performing interception if a preset time period is exceeded, and performing continuous reading if not; performing band-pass filtering, obtaining time-frequency characteristics of the digital electroencephalogram signal, and extracting a frequency value with highest frequency energy as a main frequency; obtaining an instantaneous phase of the digital electroencephalogram signal; generating predicted sine waves by respectively using the main frequency and the instantaneous phase as a frequency and an initial phase of sine waves, and predicting and obtaining real-time phase information; and judging whether the real-time phase is in a vibration stimulation application phase interval, generating and outputting a control instruction, and controlling a vibration motor to vibrate and to stimulate

Abstract: A method for producing an organic fertilizer enabling an increased microbial diversity and abundance in soil, and use of the organic fertilizer are provided. The method comprises composting fresh S. alopecuroides plants together with sheep and/or goat manure through anaerobic fermentation. It is found through experiments that, by applying the organic fertilizer produced by the method to a soil in which melon plants are grown, both abundance of bacterial and fungal communities in the rhizosphere of the plants and contents of soluble solids and sugar in fruit of the plants are increased. By a combination of taxonomic composition of the microbial communities in the rhizosphere and RDA analysis, it is further found that abundance of multiple bacterial and fungal species conducive to growth and disease resistance of the plants, is substantially increased and positively correlated with the soluble solids and sugar contents in the fruit.

Abstract: The present disclosure provides a Brevundimonas strain as an endosymbiont of Verticillium dahliae, which is named Brevundimonas olei dahliae olei (B. olei) and deposited with the accession number of CCTCC NO: M 2020392. Morphological identification and diversity sequencing analysis confirm that the symbiont is B. olei. The effect of B. olei fermentation broth on growth and microsclerotia of Verticillium dahliae is explored through a co-cultivation experiment. Observations through electron microscope find that, with the increase of culture time and fermentation broth concentration, the Verticillium dahliae forms fewer conidia, its hyphae swell, rupture, and become abnormal in shape, and its microsclerotia gradually decrease and even disappear.

Abstract: A exoskeleton finger rehabilitation training device comprises an exoskeleton finger rehabilitation training mechanism comprising a supporting base, a finger sleeve actuating mechanism, and a finger joint sleeve connected to a power output end of the finger sleeve actuating mechanism, wherein the finger joint sleeve can be sheathed at the periphery of a finger joint to be rehabilitated, and the finger joint sleeve can be driven by the power actuation of the finger sleeve actuating mechanism to drive the finger joint to be rehabilitated in order to passively bend or stretch; the supporting base comprises a profiled shell, with an inner surface of the profiled shell being configured based on the profile of the complete back of a palm or part of the back of the palm, and with the back of the profiled shell being provided with a power fixed base.

Abstract: A method for reducing hysteresis error and high frequency noise error of capacitive tactile sensors includes the following steps: step 1: calibration, specifically including positive stroke calibration to form n positive stroke curves and negative stroke calibration to form n negative stroke curves; step 2: averaging, specifically including positive stroke averaging to form an average positive stroke curve, negative stroke averaging to form an average negative stroke curve, and comprehensive averaging to form a comprehensive stroke curve; step 3: fitting modeling, to obtain a positive stroke fitting function, a negative stroke fitting function, and a comprehensive fitting function; step 4: measurement; step 5: noise filtering; step 6: stroke direction discrimination; and step 7: resolving, to obtain the force at the current time by using a corresponding fitting function based on the stroke direction discrimination result.

Abstract: A flexible finger-wearable haptic feedback device includes a fingertip sleeve sheathing a distal phalanx of a finger, a middle sleeve sheathing a middle phalanx of the finger, a proximal sleeve sheathing a proximal phalanx of the finger, outer and inner transmission rods having bending elasticity. The outer transmission rod is fixed on the fingertip sleeve at one end, positioned at a back of a hand at the other end and connected with an outer driver. The inner transmission rod is fixed on the fingertip sleeve at one end, positioned at a palm at the other end and connected with an inner driver. The fingertip sleeve is provided with first and second contact pressure sensors respectively connected with the ends of the outer and inner transmission rods, and an inner wall of the fingertip finger sleeve contacting the finger is provided with a film pressure sensor.

Abstract: An exoskeleton finger rehabilitation training apparatus includes a housing. A first motor and a second motor are disposed inside the housing. A direction of an output shaft of the first motor is opposite to a direction of an output shaft of the second motor. The output shaft of the first motor is provided with a first motor gear. A right side of the first motor gear is engaged with a first transmission gear. An edge of the first transmission gear is sequentially connected to an index finger sleeve and a middle finger sleeve that are axially arranged. The output shaft of the second motor is provided with a second motor gear. A right side of the second motor gear is engaged with a second transmission gear. An edge of the second transmission gear is sequentially connected to a pinky sleeve and a ring finger sleeve that are axially arranged.

Abstract: A pharmaceutical composition comprising a 4?-thionucleoside phosphamide derivative or a pharmaceutically acceptable salt, ester, hydrate, solvate, and isomer thereof, any crystalline form thereof or racemate, metabolite, or a combination of a mixture thereof with other drugs, and a method and use thereof for disease treatment and/or prevention.

Abstract: An exoskeleton finger rehabilitation training apparatus includes a housing. A first motor and a second motor are disposed inside the housing. A direction of an output shaft of the first motor is opposite to a direction of an output shaft of the second motor. The output shaft of the first motor is provided with a first motor gear. A right side of the first motor gear is engaged with a first transmission gear. An edge of the first transmission gear is sequentially connected to an index finger sleeve and a middle finger sleeve that are axially arranged. The output shaft of the second motor is provided with a second motor gear. A right side of the second motor gear is engaged with a second transmission gear. An edge of the second transmission gear is sequentially connected to a pinky sleeve and a ring finger sleeve that are axially arranged.

Abstract: Provided is a method for the prophylaxis or treatment of cancer, comprising administering to a patient in need thereof an antibody-drug conjugate represented by Formula (I), or a pharmaceutically acceptable salt or stereoisomer thereof, or a solvate of the foregoing, wherein A, X, Y, L, D and a are as defined herein.

Abstract: A palm-supported finger rehabilitation training device comprises a mounting base, a finger rehabilitation training mechanism mounted on the mounting base, and a driving mechanism for driving the finger rehabilitation training mechanism; wherein the finger rehabilitation training mechanism comprises four independent and structurally identical combined transmission devices for finger training corresponding to a forefinger, a middle finger, a ring finger and a little finger of a human hand, respectively, and the mounting base is provided with a supporting surface capable of supporting a human palm; wherein each combined transmission device for finger training comprises an MP movable chute, a PIP fingerstall, a DIP fingerstall and a connecting rod transmission mechanism; a force sensor is provided to acquire force feedback information to determine and control force stability, and a space sensor is provided to acquire space angle information to control space positions of fingers in real time.

Abstract: Provided is a method for modifying a chimeric antigen receptor-modified T cell (CAR-T cell). The method comprises expressing an SCFV-CDS TM-4-1BB-CD3? molecule in a T cell. The CAR-T cell prepared using the method can specifically recognize and bind to a tumor cell with elevated expression of a ROBO1 protein, and can be used to prevent and treat a corresponding tumor-related disease.