CYCLE-TO-CYCLE CONTROL OF SWING PHASE OF PARAPLEGIC GAIT INDUCED BY SURFACE ELECTRICAL-STIMULATION
CYCLE-TO-CYCLE CONTROL OF SWING PHASE OF PARAPLEGIC GAIT INDUCED BY SURFACE ELECTRICAL-STIMULATION
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DOI：
10.1007/bf02510528
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发表时间：
1995-05-01
影响因子：
3.2
通讯作者：
BOOM, HBK
中科院分区：
文献类型：
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作者：
FRANKEN, HM;VELTINK, PH;BOOM, HBK
参数化的摆动阶段的步态在截瘫患者获得使用表面电刺激的髋屈肌，腘绳肌和股四头肌;髋屈肌被刺激，以获得所需的髋关节角度范围内，腘绳肌，以提供在向前摆动的脚间隙，和股四头肌，以获得在摆动阶段结束时的膝盖伸展。我们报告的两个主要方面;优化的初始刺激参数，和参数自适应（控制）。使用受控支架装置在两个截瘫受试者中对初始刺激模式进行了实验优化，从而在两个受试者中产生初始令人满意的摆动运动。每个肌肉组的机械输出（扭矩关节）出现了受试者间差异。在一个长期的开环对照试验中，优化但不受管制的刺激起始和爆发持续时间的三个肌肉群，髋关节角度范围每个周期最初增加到期望值以上，随后下降到低于它。的机械性能的腿筋和股四头肌保持相对不受影响。一个周期到周期的控制器，然后设计，操作的基础上获得的髋关节角度范围在以前的摆动。该控制器成功地调整了髋屈肌的爆发持续时间，以保持所需的髋关节角度范围。
Parameterised swing phase of gait in paraplegics was obtained using surface electrical stimulation of the hip flexors, hamstrings and quadriceps; the hip flexors were stimulated to obtain a desired hip angle range, the hamstrings to provide foot clearance in the forward swing, and the quadriceps to acquire knee extension at the end of the swing phase. We report on two main aspects; optimisation of the initial stimulation parameters, and parameter adaption (control). The initial stimulation patterns were experimentally optimised in two paraplegic subjects using a controlled stand device, resulting in an initial satisfactory swinging motion in both subjects. Intersubject differences appeared in the mechanical output (torque joint) per muscle group. During a prolonged open-loop controlled trial with the optimised but unregulated stimulation onsets and burst duration for the three muscle groups, the hip angle range per cycle initially increased above the desired value and subsequently decreased below it. The mechanical performance of the hamstrings and quadriceps remained relatively unaffected. A cycle-to-cycle controller was then designed, operating on the basis of the hip angle ranges obtained in previous swings. This controller successfully adapted the burst duration of the hip flexors to maintain the desired hip angle range.