Simulation of a functional neuromuscular stimulation powered mechanical gait orthosis with coordinated joint locking
Simulation of a functional neuromuscular stimulation powered mechanical gait orthosis with coordinated joint locking
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具有协调关节锁定功能的功能性神经肌肉刺激驱动的机械步态矫形器的模拟
DOI：
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发表时间：
2005
影响因子：
4.9
通讯作者：
R. Triolo
中科院分区：
文献类型：
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作者：
C. To;R. Kirsch;R. Kobetic;R. Triolo
本研究的目的是检查用于脊髓损伤（SCI）后行走的混合矫形器系统（HOS），该系统协调往复式步态矫形器（RGO）的膝关节和踝关节的机械锁定和解锁，同时注入推进力并通过功能性神经肌肉刺激（FNS）控制解锁关节。在这项模拟研究中确定了 HOS 在截瘫步态的向前进展、稳定性和姿势方面可能的有效性。开发了一种将 FNS 与 RGO 相结合的 HOS 三维计算机模型，该模型结合了肌肉激活和关节锁定的反馈控制。拟人化人体模型包括被动关节力矩和改编自其他研究的足部地面接触模型。 RGO 模型在站立和摆动期间分别相互耦合臀部并锁定和解锁膝关节和踝关节。 FNS 激活下的肌肉动作通过关节扭矩输入的闭环控制进行建模。模仿手杖和自愿上肢动作的助行器通过提供必要的肩部力和力矩来保持横向稳定性。模拟 HOS 的步态速度为 0.51/spl plusmn/0.03 m/s，步长为 0.85/spl plusmn/0.04 m，步频为 72/spl plusmn/4 步/分钟，超过了其他辅助步态系统的报告性能。尽管发现在步态的特定阶段需要最小的躯干前倾，但与仅使用 FNS 的系统相比，姿势和稳定性得到了显着改善。
The purpose of this study was to examine a hybrid orthosis system (HOS) for walking after spinal-cord injury (SCI) that coordinates the mechanical locking and unlocking of knee and ankle joints of a reciprocating gait orthosis (RGO), while propulsive forces are injected and unlocked joints controlled with functional neuromuscular stimulation (FNS). The likely effectiveness of the HOS in terms of forward progression, stability, and posture of paraplegic gait was determined in this simulation study. A three-dimensional computer model of a HOS combining FNS with an RGO incorporating feedback control of muscle activation and joint locking was developed. An anthropomorphic human model included passive joint moments and a foot-ground contact model adapted from other studies. A model of the RGO reciprocally coupled the hips and locked and unlocked the knee and ankle joints during stance and swing respectively. The actions of muscles under FNS activation were modeled via closed-loop control of joint torque inputs. A walking aid that mimicked canes and voluntary upper extremity actions maintained lateral stability by providing the necessary shoulder forces and moments. The simulated HOS achieved gait speeds of 0.51/spl plusmn/0.03 m/s, stride lengths of 0.85/spl plusmn/0.04 m, and cadences of 72/spl plusmn/4 steps/min, exceeding the reported performance of other assistive gait systems. Although minimal forward trunk tilt was found to be necessary during specific phases of gait, posture, and stability were significantly improved over FNS-only systems.