滑膜的炎症和增厚使关节构造留下瘢痕并破坏软骨。
Membrane inflammation and thickening scars joint structures and destroys cartilage.
用两个弯曲关节构造了一个两自由度手指，建立了手指的运动学方程。
We construct a finger of two DOF by using two bending joints. The kinematics equations are established.
解耦型球关节能实现运动解耦，基于该关节所构造的工业机器人将具有灵巧及易于控制的特点。
The decoupling spheric joint can realize movement decoupling. Industrial robot based on this joint will have lots of unique characteristics such as smart and easy to control.
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