介绍了采用非接触式位移传感器代替测力轮对，测试脱轨系数的方法。
The method to measure the derailment coefficient with the non-contact type displacement sensor in place of the force measurement wheel-set is described.
在系统中提出以虚拟手指空间位姿代替实际力作用线方向上位移的计算和基于实际材料的虚拟力外推的方法。
Using virtual finger's position steading of real distance and extrapolation based on real material are also suggested in the system.
微机器人的传动支链采用柔性铰链微位移放大机构，并用细钢丝代替球铰链。
The transmission branch chain of micro-robot adopts flexible hinged minute-displacement enlarging mechanism and USES thin steel wires instead of global hinges.
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