Control system design for electrical stimulation in upper limb rehabilitation
Control system design for electrical stimulation in upper limb rehabilitation
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DOI：
10.1007/978-3-319-25706-8
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发表时间：
2016
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通讯作者：
C. Freeman
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作者：
C. Freeman
使用电刺激和机械支撑来辅助人类运动是一项具有挑战性的任务。它必须平衡控制高度复杂的，非线性的，时变的动态与实际要求时存在的神经功能受损的用户进行测试的要求。这些需求自然会竞争，因为模型识别和控制器调整的过程是劳动密集型的、耗时的，并且因此可能使用户疲劳或失去动力。这使得该领域的研究人员以牺牲性能和功能范围为代价，专注于简单性。本书的动机是开发一个全面的控制设计框架，使性能和实用性能够透明地平衡。重点放在应用和翻译强大的性能结果到直观的程序，适用于在实践中与用户。这些都说明了案例研究，展示了如何控制方法已被应用于临床环境，并取得了成果。本书中开发和临床评估的康复系统是我与南安普顿大学健康科学学院的同事安-玛丽·休斯博士和简·伯里奇教授合作十年的结果。正是他们的临床专业知识推动了这项研究的工程部分，确保它非常专注于解决满足用户需求的现实问题。本书中报告的技术的临床评价也涉及凯蒂·米德摩尔博士、崔西·桑普森和艾玛·哈勒韦尔的大量投入。在南安普顿开发的康复系统的工程贡献方面，Mustafa Kutlu和Tim Exell博士为Chaps中报告的系统的硬件开发提供了关键投入。分别为7和9。此外，杨凯博士和约翰·都铎博士开发了第二章所述的织物电极。10、马克教授
Assisting human movement using electrical stimulation and mechanical support is a challenging task. It must balance the demands of controlling highly complex, non-linear, time-varying dynamics with the practical requirements that exist when performing tests with neurologically impaired users. These demands naturally compete since the process of model identification and controller tuning is labour intensive, time-consuming, and may therefore fatigue or demotivate the user. This has led researchers in the field to focus on simplicity at the expense of performance and functional scope.The motivation for this book is to develop a comprehensive control design framework to enable performance and pragmatism to be transparently balanced. Emphasis is placed on applying and translating robust performance results into intuitive procedures that are suitable for application in practice with users. These are illustrated by case studies demonstrating how the control approaches have been applied in a clinical setting, and the outcomes that have been achieved. The rehabilitation systems developed and clinically evaluated in this book are a result of a decade of collaboration with my colleagues Dr. Ann-Marie Hughes and Professor Jane Burridge, both of the Faculty of Health Sciences at the University of Southampton. It is their clinical expertise that has driven the engineering component of this research, ensuring that it is strongly focused on solving real-world problems that meet users’ needs. Clinical evaluation of the technology reported in this book has also involved substantial input from Dr. Katie Meadmore, Trish Sampson and Emma Hallewell. In terms of engineering contribution to the rehabilitation systems developed at Southampton, both Mustafa Kutlu and Dr. Tim Exell have provided critical input into the hardware development of the systems reported in Chaps. 7 and 9, respectively. In addition, Dr. Kai Yang and Dr. John Tudor developed the fabric electrodes described in Chap. 10, and Professor Mark