Abstract: The present disclosure relates to a method for generating a novel impedance configuration for a three-degree-of-freedom (3DOF) leg of a hydraulically-driven legged robot. The method includes: separately determining variations of input signals of an inner position-based control loop and an inner force-based control loop of a hydraulic drive unit of each joint based on an obtained mathematical model; generating a novel impedance configuration in which position-based control is performed on a hydraulic drive unit of a hip joint, and force-based control is performed on hydraulic drive units of a knee joint and an ankle joint in a hydraulic drive system of the leg of a to-be-controlled robot; and performing forward calculation by using the leg mathematical model, to obtain an actual position and a force variation of the foot of the leg of the to-be-controlled robot to control motion of the foot of the to-be-controlled robot within motion space.

Abstract: The present disclosure relates to chimeric antigen receptor cells targeting ROBO1, in particular, enhanced CAR-T cells and CAR-NK cells targeting ROBO1, and preparation and application thereof. The cells can stably expressing CAR elements, while secreting extracellular domain molecules expressing PD-1 protein or mutants thereof, and thus may block PD-11PD-L1 molecular interaction. It has been found through animal experiments that the cells have very good anti-tumor effects, and the above-mentioned cells can significantly reduce tumor recurrence and improve the survival rate compared with the conventional ROBO1-targeted CAR modified cells.

Abstract: The present invention provides a nucleotide sequence for encoding CAR, a ROBO1 CAR-NK cell of expressing the CAR, and preparation and application thereof. The ROBO1 CAR-NK cell provided by the present invention can specifically kill tumor cells by using ROBO1 antibody for the construction of CAR-NK cells and using ROBO1 molecules as target antigens. It can be used as a therapeutic agent for tumor diseases, for the treatment of tumor with highly expressing of ROBO1, without harmful phenomena such as cytokine release syndrome, thus providing new treatments for the tumors which are ineffective in traditional surgery, chemotherapy and radiotherapy. It has lower toxicity, higher safety and better specific lysis activity compared with ROBO1 CAR-T cell.

Abstract: The present invention relates to chimeric antigen receptor cells targeting ROBO1, in particular, enhanced CAR-T cells and CAR-NK cells targeting ROBO1, and preparation and application thereof. The cells can stably expressing CAR elements, while secreting extracellular domain molecules expressing PD-1 protein or mutants thereof, and thus may block PD-11PD-L1 molecular interaction. It has been found through animal experiments that the cells have very good anti-tumor effects, and the above-mentioned cells can significantly reduce tumor recurrence and improve the survival rate compared with the conventional ROBO1-targeted CAR modified cells.

Abstract: Disclosed are a bispecific antigen-binding construct and the preparation method and use thereof, wherein the construct comprises a first antigen binding unit and a second antigen binding unit, the first antigen binding unit is a single chain variable region antibody fragment ScFV which specifically binds to the surface antigen of immune cells, and the second antigen binding unit is a Slit2D2 protein fragment which specifically binds to the surface antigen Robo1 of tumour cells. That is to say, the construct can bind to the surface antigen of immune cells and the surface Robo1 molecule of tumour cells at the same time, so that as the distance between tumour cells and immune cells get smaller, the quiescent immune cells are effectively activated, and the effect of killing and wounding tumours is produced.

Abstract: The present disclosure relates to a method for generating a novel impedance configuration for a three-degree-of-freedom (3DOF) leg of a hydraulically-driven legged robot. The method includes: separately determining variations of input signals of an inner position-based control loop and an inner force-based control loop of a hydraulic drive unit of each joint based on an obtained mathematical model; generating a novel impedance configuration in which position-based control is performed on a hydraulic drive unit of a hip joint, and force-based control is performed on hydraulic drive units of a knee joint and an ankle joint in a hydraulic drive system of the leg of a to-be-controlled robot; and performing forward calculation by using the leg mathematical model, to obtain an actual position and a force variation of the foot of the leg of the to-be-controlled robot to control motion of the foot of the to-be-controlled robot within motion space.

Abstract: Provided is a method for modifying a chimeric antigen receptor-modified T cell (CAR-T cell). The method comprises expressing an ScFv-CD8-4-1 BB-CD3? molecule in a T cell.

Abstract: Disclosed are a bispecific antigen-binding construct and the preparation method and use thereof, wherein the construct comprises a first antigen binding unit and a second antigen binding unit, the first antigen binding unit is a single chain variable region antibody fragment ScFV which specifically binds to the surface antigen of immune cells, and the second antigen binding unit is a Slit2D2 protein fragment which specifically binds to the surface antigen Robo1 of tumour cells. That is to say, the construct can bind to the surface antigen of immune cells and the surface Robo1 molecule of tumour cells at the same time, so that as the distance between tumour cells and immune cells get smaller, the quiescent immune cells are effectively activated, and the effect of killing and wounding tumours is produced.

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.

Abstract: Disclosed are a bispecific antigen-binding construct and the preparation method and use thereof, wherein the construct comprises a first antigen binding unit and a second antigen binding unit, the first antigen binding unit is a single chain variable region antibody fragment ScFV which specifically binds to the surface antigen of immune cells, and the second antigen binding unit is a Slit2D2 protein fragment which specifically binds to the surface antigen Robo1 of tumour cells. That is to say, the construct can bind to the surface antigen of immune cells and the surface Robo1 molecule of tumour cells at the same time, so that as the distance between tumour cells and immune cells get smaller, the quiescent immune cells are effectively activated, and the effect of killing and wounding tumours is produced.

Abstract: Provided are a PD-1 CAR NK-92 cell and a preparation method and use thereof. The PD-1 CAR NK-92 cell expresses PD-1-CD8™-4-1BB-CD3? fusion protein in NK-92 cells. The PD-1 CAR NK-92 is obtained by infecting an NK92 cell line with a PD-1 CAR molecule and obtaining monoclonal cells by means of flow screening, and culturing and expanding CAR NK92 monoclonal cell strains with stable traits and a high killing activity. The cells can be produced on a large scale, can be used in different patients without GVHR rejection, and have a specific killing activity and significant therapeutic effect on tumors.

Abstract: The present disclosure relates to a method for generating a novel impedance configuration for a three-degree-of-freedom (3DOF) leg of a hydraulically-driven legged robot. The method includes: separately determining variations of input signals of an inner position-based control loop and an inner force-based control loop of a hydraulic drive unit of each joint based on an obtained mathematical model; generating a novel impedance configuration in which position-based control is performed on a hydraulic drive unit of a hip joint, and force-based control is performed on hydraulic drive units of a knee joint and an ankle joint in a hydraulic drive system of the leg of a to-be-controlled robot; and performing forward calculation by using the leg mathematical model, to obtain an actual position and a force variation of the foot of the leg of the to-be-controlled robot to control motion of the foot of the to-be-controlled robot within motion space.

Abstract: A chimeric antigen receptor (CAR) and a gene encoding the CAR. The CAR comprises an extracellular domain capable of binding to an antigen, a transmembrane domain, and intracellular immune co-stimulatory molecule, wherein the extracellular domain comprises a D2 domain of a Slit2 protein. A chimeric antibody-expressing cell, which introduces a gene encoding the CAR into a cell so as to express the CAR on the surface of the cell. The CAR or CAR-expressing cell can be used as a cell drug for the treatment of tumor diseases. By using the CAR for engineering cells, especially T cells, the engineered T cells can specifically recognize and kill tumors, and have higher tumoricidal activity.

Abstract: Provided is a ROBO1 CAR-NK cell carrying a suicide gene, and a preparation method and application thereof. In order to increase the safety and controllability of a CAR-NK therapy, on the basis of a present ROBO1 CAR-NK cell, a suicide gene switch element is integrated into a genome by means of a lentiviral transfection technology to form a CAR-NK carrying a suicide gene. By adding the suicide gene, the CAR-NK cell can be better controlled, and the clinical safety is further improved.

Abstract: The present invention provides a recombinant fusion protein. The fusion protein is formed by the fusion of D2 domain of Slit2 protein and HSA protein, and the position 386 amino acid of the Slit2 protein molecule is serine.

Abstract: Provided in the present invention are a Slit2D2-HAS fusion protein and the use thereof against tumours. The fusion protein can significantly inhibit the migration of tumour cells. Also provided in the present invention are a pharmaceutical composition comprising the fusion protein and a method for preparing the fusion protein.

Abstract: The present invention relates to the field of biomedical technology, in particular to a fusion protein Slit2D2(C386S)-HSA and use thereof in the treatment and/or prevention of fibrotic diseases. In the fusion protein, the amino acid residue is mutated on the basis of the Slit2D2 domain, which improves the stability of the fusion protein compared with the native protein. The above fusion protein is obtained by fusing Slit2D2(C386S) with HSA protein, which prolongs the metabolism time of the drug while improving the stability of the drug. The fusion protein provided by the present invention is more effective than the positive control drug in the prevention and treatment of fibrotic diseases, particularly pulmonary fibrosis, and shows good drug-forming properties.

Abstract: The present invention provides a chimeric antigen receptor, a NKG2D CAR-NK cell expressing the chimeric antigen receptor, and preparation and application thereof. The chimeric antigen receptor comprising an antigen binding domain, a transmembrane domain and a costimulatory signal transduction region, and the antigen binding domain can specifically bind to tumor specific antigen of NKG2D ligands and can activate NK cells through the transmembrane domain and the costimulatory signal transduction region. The NKG2D CAR-NK cell provided by the present invention use NKG2D ligands as target antigens, and can specifically kill tumor cells. It can be used as a therapeutic drug for tumor diseases, for the treatment of tumor with highly expressing of ligands of NKG2D molecule, thus providing new treatments for the tumors.

Abstract: Disclosed are a bispecific antigen-binding construct and the preparation method and use thereof, wherein the construct comprises a first antigen binding unit and a second antigen binding unit, the first antigen binding unit is a single chain variable region antibody fragment ScFV which specifically binds to the surface antigen of immune cells, and the second antigen binding unit is a Slit2D2 protein fragment which specifically binds to the surface antigen Robo1 of tumour cells. That is to say, the construct can bind to the surface antigen of immune cells and the surface Robo1 molecule of tumour cells at the same time, so that as the distance between tumour cells and immune cells get smaller, the quiescent immune cells are effectively activated, and the effect of killing and wounding tumours is produced.

Abstract: The present invention provides a nucleotide sequence for encoding CAR, a ROBO1 CAR-NK cell of expressing the CAR, and preparation and application thereof. The ROBO1 CAR-NK cell provided by the present invention can specifically kill tumor cells by using ROBO1 antibody for the construction of CAR-NK cells and using ROBO1 molecules as target antigens. It can be used as a therapeutic agent for tumor diseases, for the treatment of tumor with highly expressing of ROBO1, without harmful phenomena such as cytokine release syndrome, thus providing new treatments for the tumors which are ineffective in traditional surgery, chemotherapy and radiotherapy. It has lower toxicity, higher safety and better specific lysis activity compared with ROBO1 CAR-T cell.