New orthogonal joints used in the ankle joint and hip joint of the biped walking-chair robot make its mechanism simple and compact and improve accuracy in gait planning.

This thesis summarizes the main operation points and suitable sicknessies of the four kinds of the acupuncture technologies,namely"wuzangjiaojing","gejiaojiaojing","tongguanjiaojing"and"guanjiejiaojing",by systematical arranging and analyzing"jiaojingzhenfa"on Yang Jizhou in Ming Dynasty.

Orthogonality of proper function and its derivative from second imension green s indentity in pole form guide are proved and the conclusion is got that whether between proper functions or between field components, certain orthogonality exists.