A portable assist-as-need upper-extremity hybrid exoskeleton for FES-induced muscle fatigue reduction in stroke rehabilitation
A portable assist-as-need upper-extremity hybrid exoskeleton for FES-induced muscle fatigue reduction in stroke rehabilitation
复制标题
一种便携式按需辅助上肢混合外骨骼，用于减少中风康复中 FES 引起的肌肉疲劳
作者：
Ashley M. Stewart;C. Pretty;Xiaoqi Chen
混合外骨骼是最近发展起来的一种结合了功能性电刺激和执行器的外骨骼，以改善中风患者的精神和身体康复。与单独的功能性电刺激相比，混合外骨骼已被证明能够减轻致动器的重量并提高运动精度。然而，很少有人关注混合外骨骼减少和管理功能性电刺激引起的疲劳或适应用户能力的能力。这项工作详细介绍了一种新型的按需辅助上肢混合外骨骼的构建和测试，该外骨骼使用基于模型的功能性电刺激控制来延迟功能性电刺激引起的肌肉疲劳。将混合控制与仅对健康受试者进行功能电刺激的控制进行比较。结果与单独使用功能电刺激相比，混合系统产生的平均角度误差减少24°，均方根误差减少13.2°，并能减轻功能电刺激引起的疲劳。就作者所知，这项研究提供了证据，证明在延迟功能性电刺激引起的肌肉疲劳方面，与单独使用功能性电刺激相比，混合外骨骼具有优势。
BackgroundHybrid exoskeletons are a recent development which combine Functional Electrical Stimulation with actuators to improve both the mental and physical rehabilitation of stroke patients. Hybrid exoskeletons have been shown capable of reducing the weight of the actuator and improving movement precision compared to Functional Electrical Stimulation alone. However little attention has been given towards the ability of hybrid exoskeletons to reduce and manage Functional Electrical Stimulation induced fatigue or towards adapting to user ability. This work details the construction and testing of a novel assist-as-need upper-extremity hybrid exoskeleton which uses model-based Functional Electrical Stimulation control to delay Functional Electrical Stimulation induced muscle fatigue. The hybrid control is compared with Functional Electrical Stimulation only control on a healthy subject.ResultsThe hybrid system produced 24° less average angle error and 13.2° less Root Mean Square Error, than Functional Electrical Stimulation on its own and showed a reduction in Functional Electrical Stimulation induced fatigue.ConclusionAs far as the authors are aware, this is the study which provides evidence of the advantages of hybrid exoskeletons compared to use of Functional Electrical Stimulation on its own with regards to the delay of Functional Electrical Stimulation induced muscle fatigue.