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An important feature of a legged robot is its dynamic motion performance. Traditional methods often improve the dynamic motion performance by reducing the moment of inertia of robot legs or by adopting quasi-direct drive actuators. This paper proposes a method to enhance the dynamic performance of a legged robot by transmission mechanism. Specifically, we present a unique six-link leg mechanism that can implement a large output motion using a small drive motion. This unique feature can enhance the robots’ dynamic motion capability. Experiments with a hexapod robot verified the effectiveness of the mechanism. The experimental results showed that, when the steering gear of the robot rotates 1°, the toe can lift 7 mm (5% of body height), and the maximum running speed of the robot can reach 390 mm/s (130% of the moveable body length per second).

Mitochondrial dysfunction and oxidative stress play essential roles in the pathogenesis of diabetic nephropathy (DN). The respiratory oxygen consumption and oxidative stress status of kidney mitochondria are closely associated with the development of DN. In this study, raspberry ketone (RK), the predominant bioactive component extracted from raspberry, was applied to treat the established DN mice model. This study investigated whether RK protects the kidneys of high-fat and high-sugar/streptozotocin (STZ)-induced diabetic rats by inhibiting oxidative stress and ameliorating mitochondrial dysfunction. Besides, the DN mice models were established by injecting high-fat and high-sugar/STZ (130 mg/kg, intraperitoneal injection). The animals were randomly divided into the control group (normal saline, ig), DN group (normal saline, ig), DN + RK group (200 mg/kg RK + normal saline, ig), DN + RK group (400 mg/kg RK + normal saline, ig), and DN + Metformin (Met) (200 mg/kg Met + normal saline, ig). Regular monitoring of fasting blood glucose (FBG) levels was observed in mice. After 10 weeks of drug treatment, the kidneys of mice in each group were analyzed using ultrasound, and the mice were euthanized humanely. Kidney weight (KW)/body weight (BW) and kidney injury, mitochondrial function, and oxidative stress indicators were determined. The histopathological changes in renal tissue were observed after hematoxylin and eosin (H&E) staining. The results recommended that RK has a renoprotective function on DN mice by improving mitochondrial dysfunction and inhibiting oxidative stress.

Pulmonary hypertension is called PH for short. It is caused by the pulmonary artery vascular disease leading to pulmonary vascular resistance, and the increase right lung compartment load, which resulting in weakening or even collapse of the right ventricular function. The establishment of rat PH model under the action of monocrotaline is a repeatable, simple and accessible operation technique, which has been widely used in the treatment of pulmonary hypertension. This paper discusses the principle and properties of the PH model on rats under the monocrotaline action.