Proprioception from a neurally controlled lower-extremity prosthesis
Proprioception from a neurally controlled lower-extremity prosthesis
复制标题
DOI：
10.1126/scitranslmed.aap8373
复制
发表时间：
2018-05-30
影响因子：
17.1
通讯作者：
Herr, Hugh. M.
中科院分区：
文献类型：
--
作者：
Clites, Tyler R.;Carty, Matthew J.;Herr, Hugh. M.
人类可以精确地感觉到他们身体部位的位置、速度和扭矩。这种感觉被称为本体感觉，对人类的运动控制是必不可少的。尽管已经有许多尝试创造人-机电互动，但仍然没有健壮的、可重复的方法来将本体感觉信息从合成设备反映到神经系统。为了解决这一缺点，我们提出了一种激动剂-拮抗剂肌神经界面(AMI)。急性心肌梗死由(I)由两个肌腱--激动剂和拮抗剂--串联而成的外科结构组成，从而使一块肌肉的收缩伸展另一块肌肉；(Ii)双向传出-传入神经控制结构。急性心肌梗死保留了存在于固有解剖学中的动态肌肉关系，从而允许来自两个肌肉中的机械感受器的本体感觉信号被传递到中枢神经系统。我们通过外科手术在一位胫骨截肢的受试者的残肢内构建了两个急性心肌梗死。每个AMI向两自由度踝足假体的一个关节发送控制信号，并提供与该关节的运动有关的本体感觉信息。与接受传统截肢手术的四名受试者相比，急性心肌梗死受试者对假体的控制能力有所提高。我们还显示了在急性心肌梗死患者的楼梯行走过程中的自然反射行为，这在传统截肢患者的队列中没有出现。此外，我们还演示了一个用于急性心肌梗死患者关节扭矩的闭环控制系统。这些结果为仿生系统与人体生理学的结合提供了一个框架。
Humans can precisely sense the position, speed, and torque of their body parts. This sense is known as proprioception and is essential to human motor control. Although there have been many attempts to create human-mechatronic interactions, there is still no robust, repeatable methodology to reflect proprioceptive information from a synthetic device onto the nervous system. To address this shortcoming, we present an agonist-antagonist myoneural interface (AMI). The AMI is composed of (i) a surgical construct made up of two muscle-tendons-an agonist and an antagonist-surgically connected in series so that contraction of one muscle stretches the other and (ii) a bidirectional efferent-afferent neural control architecture. The AMI preserves the dynamic muscle relationships that exist within native anatomy, thereby allowing proprioceptive signals from mechanoreceptors within both muscles to be communicated to the central nervous system. We surgically constructed two AMIs within the residual limb of a subject with a transtibial amputation. Each AMI sends control signals to one joint of a two-degree-of-freedom ankle-foot prosthesis and provides proprioceptive information pertaining to the movement of that joint. The AMI subject displayed improved control over the prosthesis compared to a group of four subjects having traditional amputation. We also show natural reflexive behaviors during stair ambulation in the AMI subject that do not appear in the cohort of subjects with traditional amputation. In addition, we demonstrate a system for closed-loop joint torque control in AMI subjects. These results provide a framework for integrating bionic systems with human physiology.