Control of a time-delayed 5 degrees of freedom arm model for use in upper extremity functional electrical stimulation
Control of a time-delayed 5 degrees of freedom arm model for use in upper extremity functional electrical stimulation
复制标题
用于上肢功能性电刺激的延时 5 自由度手臂模型的控制
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
R. Kirsch
中科院分区：
文献类型：
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作者：
Peter Cooman;R. Kirsch
这项工作的目标是设计一个控制器的功能性电刺激（FES）神经假体，旨在恢复肩关节和肘关节功能的个人谁遭受了高位颈（C3-C4）脊髓损伤（SCI）。控制器是一种数学算法，它协调施加到瘫痪肌肉的电刺激，使得手臂紧密地跟踪给定的期望轨迹。一个迄今很少受到注意的问题是时间延迟。这些延迟来自两个来源：（1）肌肉兴奋-激活动力学（10- 30 ms）和（2）电刺激的采样（在典型的12 Hz刺激频率下为80 ms）。使用5自由度（5DOF）的手臂模型，我们设计和评估了一种新的控制器，能够保持稳定和准确的跟踪性能存在的时间延迟。对于由10个随机到达组成的期望轨迹，控制器实现了出色的跟踪性能，通过期望关节角度和模拟关节角度之间的均方根误差（RMSE）来测量（RMSE= [1.48°; 0.81°; 2.14°; 3.11°; 2.29°]）。
The goal of this work is to design a controller for a functional electrical stimulation (FES) neuroprosthesis aimed at restoring shoulder and elbow function in individuals who have suffered a high-level cervical (C3-C4) spinal cord injury (SCI). The controller is a mathematical algorithm that coordinates the electrical stimulations applied to the paralyzed muscles such that the arm closely tracks a given desired trajectory. An issue that so far has received little attention is that of time-delays. These delays arise from two sources: (1) the muscle excitation-activation dynamics (10-30ms) and (2) the sampling of the electrical stimulation (80ms at the typical 12Hz stimulation frequency). Using a 5 degrees of freedom (5DOF) arm model we designed and evaluated a novel controller capable of maintaining stable and accurate tracking performance in the presence of time-delays. For a desired trajectory consisting of 10 randomized reaches, the controller achieved excellent tracking performance as measured by the root-mean-square error (RMSE) between the desired and simulated joint angles (RMSE= [1.48°; 0.81°; 2.14°; 3.11°; 2.29°]).
基于模型的神经假体开发，用于恢复近端手臂功能。
DOI：
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发表时间：
2001
期刊：
Journal of rehabilitation research and development.
影响因子：
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作者：
Kirsch,RF;Acosta,AM;vanderHelm,FC;Rotteveel,RJ;Cash,LA
通讯作者：
Cash,LA