Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet s...Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.展开更多
The aim of this study was to explore the potential role of SEPT7 in glioma cell invasion. From in vitro experiments, we observed that the migratory and invasive abilities were inhibited in human glioblastoma U251MG an...The aim of this study was to explore the potential role of SEPT7 in glioma cell invasion. From in vitro experiments, we observed that the migratory and invasive abilities were inhibited in human glioblastoma U251MG and TJ899 cells after transfection with SEPT7 recombinant adenovirus constructs (Ad-SEPT7) as evaluated by Transwell assay, 3D Matrigel growth, 2D Matrigel growth and scratch assays. We further investigated the molecular events associated with the alteration of cell migration and invasion by immunohistochemistry and immuno uores-cence staining, Western blot and laser scanning confocal micros-copy analyses, and found the decreased expression of MMP2, MMP9, MT1-MMP and integrin αvβ3, increased expression of TIMP1 and TIMP2, and redistribution of intracellular cytoskel-eton tubulin-α. From in vivo study, it was demonstrated that the tumor growth rate in nude mice bearing xenograft subcutaneous U251 gliomas treated with Ad-SEPT7 was signi cantly slowed during the observation period of 4 weeks and the tumor volumes were much smaller than those in control and empty vector treated group. The expression of MMP2, MMP9, MT1-MMP and integrin αvβ3 was markedly inhibited while the expression of SEPT7, TIMP1, TIMP2 was upregulated in tumors treated with Ad-SEPT7. Taken together, these results suggest that SEPT7 plays an important role in glioma cell invasion and growth and it may be a candidate target for gene therapy of invasive gliomas.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.62073041)the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04)the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。
文摘Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.
文摘The aim of this study was to explore the potential role of SEPT7 in glioma cell invasion. From in vitro experiments, we observed that the migratory and invasive abilities were inhibited in human glioblastoma U251MG and TJ899 cells after transfection with SEPT7 recombinant adenovirus constructs (Ad-SEPT7) as evaluated by Transwell assay, 3D Matrigel growth, 2D Matrigel growth and scratch assays. We further investigated the molecular events associated with the alteration of cell migration and invasion by immunohistochemistry and immuno uores-cence staining, Western blot and laser scanning confocal micros-copy analyses, and found the decreased expression of MMP2, MMP9, MT1-MMP and integrin αvβ3, increased expression of TIMP1 and TIMP2, and redistribution of intracellular cytoskel-eton tubulin-α. From in vivo study, it was demonstrated that the tumor growth rate in nude mice bearing xenograft subcutaneous U251 gliomas treated with Ad-SEPT7 was signi cantly slowed during the observation period of 4 weeks and the tumor volumes were much smaller than those in control and empty vector treated group. The expression of MMP2, MMP9, MT1-MMP and integrin αvβ3 was markedly inhibited while the expression of SEPT7, TIMP1, TIMP2 was upregulated in tumors treated with Ad-SEPT7. Taken together, these results suggest that SEPT7 plays an important role in glioma cell invasion and growth and it may be a candidate target for gene therapy of invasive gliomas.
