Switching curve controller for FES-assisted standing up and sitting down.
Switching curve controller for FES-assisted standing up and sitting down.
复制标题
用于FES辅助站立和坐下的切换曲线控制器。
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
P. Veltink
中科院分区：
文献类型：
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作者：
M. Dolan;B. Andrews;P. Veltink
描述了用于FES辅助的站立和坐下的低水平闭环控制器。如果，对于身体健全的个体，当站起来和坐下时，膝盖角速度相对于膝盖角度被绘制，则产生一致的相平面轨迹。继电器式控制器使用该轨迹的模型作为切换曲线。控制器的设计原理是希望避免在站立时膝盖锁定和坐下时座位接触未得到充分控制时可能发生的伤害。这种开关曲线控制器（SCC）被纳入一个分层的，有限状态的控制方案，与电刺激施加双侧膝伸肌。SCC在一项针对截瘫女性志愿者（T5/6 ASIA A）的初步研究中进行了测试，并针对非斜坡开环控制器（OLC）进行了评估。测量垂直手力和膝关节角度。受试者能够使用两种控制器安全地站立和坐下。对于站立，SCC没有发现提供任何可量化的优势，OLC，并发现增加了8.4%的手的力量。相比之下，对于坐下，发现SCC在受试者接近座位时将膝关节角速度降低27%，证明了更安全、更柔软的着陆。
A low-level, closed-loop controller for FES-assisted standing up and sitting down is described. If, for able-bodied individuals, when standing up and sitting down, the knee angular velocity is plotted against knee angle, consistent phase-plane trajectories are produced. The bang-bang controller uses a model of this trajectory as a switching curve. The design rationale for the controller was the desire to avoid injuries that might occur if knee-locking on standing up and seat-contact on sitting down are not adequately controlled. This switching curve controller (SCC) was incorporated within a hierarchical, finite state control scheme, with electrical stimulation applied bilaterally to the knee extensors. The SCC was tested in a pilot study on a female volunteer with paraplegia (T5/6 ASIA A) and evaluated against an unramped, open-loop controller (OLC). The vertical hand forces and knee angles were measured. The subject was able to achieve standing up and sitting down safely using both controllers. For standing up, the SCC was not found to offer any quantifiable advantages over the OLC and was found to increase the hand force by 8.4%. In contrast, for sitting down the SCC was found to reduce the knee angular velocities as the subject approached the seat by 27%, demonstrating a safer, softer landing.