Adaptive and Patient Control of Low-Load Prolonged Stretch

该项目建议将自动控制气动肌肉执行器(PMAS)与低负荷延长拉伸(LLP)装置结合使用。LLP设备用于治疗与脑血管发作、脑或脑脊髓损伤相关的关节痉挛。随着时间的推移，由于痉挛和高张力导致的肌挛缩对患者来说可能会变得非常令人不安和痛苦。使用LLP装置和其他替代技术，如连续铸造，意在改善条件，防止关节和肌肉收缩。在现有的LLP设备中，设置由照顾者定期控制。该项目旨在利用传统的控制技术，通过使用PMAS来调整LLP设备。建议通过在器件中加入PMAS来对LLP使用双模控制机制。建议采用两种PID控制算法对拉力载荷和关节角度位置进行自动调整。该项目还包括通过在中风患者身上进行测试，对PMA驱动的LLP设备与传统的被动LLP设备进行比较评估。

0503117QuesadaThe project proposes the use of automatically controlled pneumatic muscle actuators (PMAs) in conjunction with low load prolonged stretch (LLPS) devices. The LLPS devices are used to treat joint contractures associated with cerebrovascular attacks, brain or cerebrospinal cord injuries. The contractures that develop due to spasticity and hypertonia over time can become quite disturbing and painful to the patient. Use of LLPS devices and other alternative techniques such as serial casting are intended to improve the condition and prevent the contractures of the joints and muscles. In the existing LLPS devices, the settings are controlled periodically by the caregivers. The project is designed to make use of conventional control techniques to adjust LLPS devices through the use of PMAs. It is proposed to use a dual-mode control mechanism for LLPS by incorporating PMAs in the devices. It is suggested that two PID control algorithms be used to adjust the tensile load and the joint angular position automatically. The project further includes a comparative evaluation of PMA driven LLPS devices with conventional passive LLPS by testing them on stroke patients.