Switched motorized assistance during switched functional electrical stimulation of the biceps brachii to compensate for fatigue
Switched motorized assistance during switched functional electrical stimulation of the biceps brachii to compensate for fatigue
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DOI：
10.1109/cdc.2017.8264554
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发表时间：
2017-12
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影响因子：
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通讯作者：
Courtney A. Rouse;Christian A. Cousin;Victor H. Duenas;W. Dixon
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文献类型：
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作者：
Courtney A. Rouse;Christian A. Cousin;Victor H. Duenas;W. Dixon
导致运动障碍的神经系统疾病的康复治疗通常包括功能性电刺激（FES），以恢复肢体功能并增加肌肉力量。FES可以促进肌肉收缩，从而引起特定的运动，例如二头肌卷曲。作者的实验证据表明，基于所产生的扭矩有效性，沿着沿着肱二头肌的多个电极切换刺激导致更有效的运动。在肌肉疲劳到将终止治疗会话的点之前，允许更多的重复。康复机器人利用电机来帮助或抵抗用户。在本文中，机器人系统用于两个目标：在肱二头肌伸展和屈曲时，肌肉疲劳时提供援助，以跟踪所需的轨迹。切换控制器被设计用于FES肌肉输入和用于占肌肉刺激饱和度的电机输入。两个控制器都用于跟踪前臂绕手肘的期望角位置轨迹。全局指数跟踪证明使用一个共同的李雅普诺夫函数。实验结果验证了组合控制器的跟踪性能。
Rehabilitation treatments for neurological conditions that result in movement disorders often include functional electrical stimulation (FES) to restore limb function and increase muscle strength. FES elicits muscle contractions to cause a specific movement, such as a biceps curl. Experimental evidence by the authors suggests that switching stimulation across multiple electrodes along the biceps brachii based on the resulting torque effectiveness results in more efficient movements. More repetitions are permitted before the muscle fatigues to a point that would terminate the therapy session. Rehabilitation robotics utilize motors to either assist or resist the user. In this paper, a robotic system is used for two objectives: to track the desired trajectory during biceps brachii extension and to provide assistance during flexion when the muscle fatigues. A switched controller is designed for the FES muscle input and for the motor input that accounts for muscle stimulation saturation. Both controllers are used to track a desired angular position trajectory of the forearm about the elbow. Global exponential tracking is proven using a common Lyapunov function. Experimental results demonstrate the tracking performance of the combined controllers.