ABSTRACT
The real physical image of the affected limb, which is difficult to move in the traditional mirror training, can be realized easily by the rehabilitation robots. During this training, the affected limb is often in a passive state. However, with the gradual recovery of the movement ability, active mirror training becomes a better choice. Consequently, this paper took the self-developed shoulder joint rehabilitation robot with an adjustable structure as an experimental platform, and proposed a mirror training system completed by next four parts. First, the motion trajectory of the healthy limb was obtained by the Inertial Measurement Units (IMU). Then the variable universe fuzzy adaptive proportion differentiation (PD) control was adopted for inner loop, meanwhile, the muscle strength of the affected limb was estimated by the surface electromyography (sEMG). The compensation force for an assisted limb of outer loop was calculated. According to the experimental results, the control system can provide real-time assistance compensation according to the recovery of the affected limb, fully exert the training initiative of the affected limb, and make the affected limb achieve better rehabilitation training effect.
Subject(s)
Humans , Electromyography , Movement , Muscle Strength , Robotics , Shoulder Joint , Stroke RehabilitationABSTRACT
Background & objectives: Hypoxia inducible factor-1α (HIF-1α) has been shown to play a role in the pathogenesis of renal interstitial fibrosis. However, the relationship of HIF-1α expression intensity in human renal tissue with the degree of renal function or renal fibrosis has not been investigated. We therefore, undertook this study to assess the relationship between HIF-1α expression and degree of renal impairment and renal fibrosis using renal tissue from nephrectomized kidneys from patients with chronic kidney disease. Methods: This retrospective study was performed with 70 patients undergoing unilateral or bilateral nephrectomy because of renal cell carcinoma, urothelial cell carcinoma, or renal abscess. Immunohistochemical analysis of HIF-1α expression in non-tumourous or non-abscess renal parenchyma was performed. The patients were divided into two groups: group 1 (n=37) with low intensity HIF-1α expression and group 2 (n=33) with high intensity HIF-1α expression. Results: The intensity of renal HIF-1α expression was significantly associated with serum creatinine level (P=0.005), estimated glomerular filtration rate (P=0.02), fibrosis score of the interstitium (P=0.004) and glomerular sclerosis (P=0.013). A high intensity of HIF-1α expression tended to be associated with lower serum creatinine, higher estimated glomerular filtration rate, low interstitial fibrosis score and low glomerular sclerosis. In addition, multivariate analysis by step-wise logistic regression demonstrated that interstitial fibrosis was the only independent factor associated with the intensity of renal HIF-1α expression (OR 4.107, CI 1.535-11.313, P=0.005). Interpretation & conclusions: This study demonstrated a correlation between intensity of HIF-1α expression and degree of renal interstitial fibrosis. The association demonstrated an elevated HIF-1α expression in less severe kidney disease. The intensity of HIF-1α renal expression plays a role in the pathogenesis of chronic kidney disease.
ABSTRACT
OBJECTIVE@#To study the sequences of off-ladder alleles of PowerPlex 16 kit in Chinese Han population and their nomenclature.@*METHODS@#10071 Samples from unrelated individuals in Chinese Han population were screened by using PowerPlex 16 kit and ABI 377 or 3100. The samples showing off-ladder alleles were re-screened with PAGE and the off-ladder alleles were obtained and sequenced.@*RESULTS@#32 off-ladder alleles were found in 11 STR loci, whose frequencies ranged from 0.05 per thousand to 4.02 per thousand. These alleles were classified as four types: (1) having complete repeat but its length is out of the ladder; (2)having incomplete repeat; (3) having deletion or insertion of one or two base(s) in flanking sequence; (4) having deletion of some segment.@*CONCLUSION@#Off-ladder alleles have various types. It demonstrates varying repteating number of the core unit, and variation in the flanking sequence or core sequence as well. The nomenclature of International Society for Forensic Haemogenetics cannot define these alleles effectively.