DESIGN OF A THRESHOLD FES CONTROL SYSTEM FOR ARM MOVEMENT
DESIGN OF A THRESHOLD FES CONTROL SYSTEM FOR ARM MOVEMENT
复制标题
手臂运动阈值FES控制系统的设计
DOI：
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
C. Wen
中科院分区：
文献类型：
--
作者：
L. Lan;K. Zhu;C. Wen
现有的功能性电刺激(FES)技术常常需要解决复杂的“逆动力学问题”来计算沿期望轨迹运动的肌肉力矩。根据自主运动控制的阈值控制理论，设计了一种仿生阈值控制策略用于FES控制器，并在人体手臂运动中进行了验证。手臂被建模为由两个铰链关节连接的三个线段。这一动作由七块肌肉驱动，限制在水平面内。所有肌肉均采用改进的Hill肌肉模型进行描述。仿真结果表明，门限FES控制系统能够实现点对点的运动，并能在反馈延迟达20ms的情况下近似跟踪期望轨迹。在外部扰动或外部载荷作用下，运动也能保持稳定。该控制系统具有以下优点：(1)控制策略包含了一些成熟的控制技术，并已在硬件上实现。(2)只需要精密的测角仪传感器和表面电极就可以提供反馈和肌肉刺激。(3)控制系统的性能不会因为肌腱参数和反馈延迟的微小变化而受到严重影响，甚至控制器的参数也是固定的。
The existing functional electrical stimulation (FES) techniques often required to solve the complex "inverse dynamic problem" to calculate the muscle torques for moving along a desired trajectory. According to the threshold control theory of voluntary motor control, a bio-mimetic threshold control strategy for the FES controller is designed and tested in the human arm movement. The arm is modeled as three segments connected by two hinges joints. The movement is driven by seven muscles and limited in the horizontal plane. All muscles are described by a modified Hill-type muscle model. Simulation results suggest that the threshold FES control system can realize point to point movement and can approximately follow the desired traces in presence of feedback delays up to 20 ms. The movement can also maintain stability under external perturbation or external load. The control system can be employed in clinical application because of the following advantages: (1) The control strategy includes some mature control techniques which had been realized in hardware. (2) Only sophisticated sensors of goniometer and the surface electrodes are needed to provide feedbacks and muscle stimulation. (3) The performance of the control system will not be critically influenced by the slight change of musculo-tendon parameters and feedback delays, and even the parameters of controller are fixed.
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DOI：
10.1115/1.1531112
发表时间：
2003-02-01
影响因子：
1.7
作者：
Thelen, DG
通讯作者：
Thelen, DG
影响因子：
2.4
作者：
Lemay, MA;Crago, PE
通讯作者：
Crago, PE
影响因子：
--
作者：
F. Zajac
通讯作者：
F. Zajac
影响因子：
2.4
作者：
Veeger, HEJ;Yu, B;Rozendal, RH
通讯作者：
Rozendal, RH
DOI：
10.1115/1.3138494
发表时间：
1984-01-01
影响因子：
1.7
作者：
AN, KN;TAKAHASHI, K;CHAO, EY
通讯作者：
CHAO, EY