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To investigate the effects of embryo abortion on fruit size and weight, fruit quality, chlorophyll, carotenoid, anthocyanin, flavonoid, and total polyphenols, the seeded fruit of mango (Mangifera indica L.) cultivar 'Guifei' were compared at the ripe stage. Seedless fruit had significantly smaller fruit size and lower fruit weight than seeded fruit in the cultivar. The experimental results suggested that embryo abortion at early stages of fruit ripening did not affect the concentration of total polyphenols in the pulp of matured fruit at green color or yellow color stages. However, the chlorophyll level decreased with ripening, lower in the abortion mango than in the normal mango. Carotenoid content increased throughout yellow stage and was significantly higher in the normal fruit compared to the abortion fruit. The concentrations of flavonoid were lower in the abortion fruit compared with normal fruit in the same color fruit. The expression of PSY and PDS was increased from green to yellow in abortion and normal mango. Expression of ANS and DFR was higher in the green color mango, in different development stages, and lower at the abortion stage in the yellow mango.

With the aging population problem getting more and more aggravated, the number of hemiplegia patients increases rapidly, which results in the increasing requirement of rehabilitation training for regaining the body movement function. Taking advantages of rehabilitation robots makes the rehabilitation training more scientific and efficient compared to traditional rehabilitation measures such as manual training. By now, many types of rehabilitation robots have been proposed by researchers. However, from the view of the physiological structure, many of them can't well fit the motion characteristics. Ankle plays an important role in standing, walking and so on. As the motion of these robots is different from the motion characteristics of ankles, it would make an undesired influence on the training effect. Rehabilitation robots have many structures, and they are mainly serial mechanism and parallel mechanism. However, serial mechanism is inconvenient to package. In this paper, a new type of parallel mechanism with five degrees of freedom was proposed. Compared to serial mechanism, parallel mechanism is convenient to package and it has larger motion area. It enables ankles to rotate around the rotary center of the ankle. With the screw theory, the degree of freedom was calculated. To verify the working space of the mechanism, the working space simulation was carried out by Matlab. Finally, the quantity and position of motors are determined.

With the aggravation of ageing society, the number of hemiplegic patients has increased rapidly. As a result, the requirement of rehabilitation training has made a huge increase. In order to help hemiplegic patients to get a better rehabilitation and help occupational therapists to reduce working pressure, series of rehabilitation training robot has been developed. Although the rehabilitation robot has been improved greatly for meeting various requirements, most of rehabilitation robots still just focus on rehabilitation training of single joint and neglect the recovery of damaged nervous system. In order to offer patients comprehensive rehabilitation training and help recovering nervous system, a new MKW series rehabilitation robots are designed to realize wrist and hand independent and cooperative training in our team. As the MKW-I is not convenient for use and its sensors' accuracy would be heavily influenced by environment. Therefore, MKW-II is designed for better rehabilitation effectiveness. For these reasons, we propose the MKW-II, which can perfectly solve these problems. The improvement of mechanism structure and improvement of related sensors will be introduced detailly in this paper.