The TLIF procedure increases the approximate biomechanical stability and reduces stress at the cage-endplate interface, except for a slight increase in screw stress. Clinically, the TLIF procedure may reduce many of the risks and limitations associated with PLIF and offer a useful alternative to the PLIF procedure.

Based on the magnetic field modulation effect, this article presents a magnetic gear with intersecting axes and straight stationary pole-pieces. Except for a higher utilization of permanent magnets and a greater output torque, the magnetic gear with intersecting axes and straight stationary pole-pieces provides several advantages, such as a smaller volume, higher torque density, and lower processing cost. The magnetic gear with intersecting axes and straight stationary polepiece topology is herein introduced and the deduced constraints of the structural design are outlined. The transmission mechanism is demonstrated by analyzing the output torque in the middle of the air gaps. The effects of the main design parameters on the maximum static torque are evaluated using the finite element method. Based on the orthogonal experimental design and the response surface method, the optimum design results are provided. Prototype of the magnetic gear with intersecting axes and straight stationary pole-pieces has been realized and the static torque has been verified experimentally.

Based on influence coefficients theory of multi-closed-loop mechanism theory and virtual work principle, a novel methodology of dynamic modeling with corresponding computed torque control scheme for multiple cooperating robots is proposed. Load distribution principle of minimum squared sum of the joint torques is used. Only joint position and velocity variables are used in this control scheme. A numerical example has been provided to demonstrate the methodology as well as its feasibility.

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