Fundamental Study of Simultaneous Antagonistic Situmilation by FES and Modeling Study of the Neuromusculoskeletal System

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Electrical stimulation to the neuromusculoskeletal system causes nonlinear response. The purpose of this research is to make clear the response by simultaneous antagonistic stimulation in order to develop the method of improving the nonlinearity, and to have knowledge for modeling that system responding to electrical stimulation. Following results were obtained by this research.1. Experimental system for measuring the response of neuromusculoskeletal system caused by electrical stimulation was achieved. It was confirmed that steepy rising slope of Stimulus Intensity-Force characteristic of the agonist became gradual by simultaneous antagonistic stimulation. This shows that the simultaneous stimulation method is useful for controlling parapyzed extremities by functional electrical stimulation (FES). In addition to the results,2. It was suggested by the slope changes of the Intensity-Force characteristics that the muscle length affected the response of simultaneous antagonistic simulation, and the effect was not observed after eliminating the innervation. From these results, contribution of the neuromuscular system containing the spinal cord reflex to the slope change as obtained.3. A new method of making stimulation pattern, in which consecutive motion is divided into some "elemental movements" and stimulation pattern of the original mortion is made up by combining their stimulation patterns, was proposed. Validity of the method was confirmed by fundamental EMG analysis and knowledge of influence of the gravity on making stimulation pettern and on modeling the neuromusculoskeletal system was obtained.4. Stumulation pattern is finally adjusted in clinical application. In order to develop the FES system for easily modifying stimulation pattern, control command detector for FES system and modification method of stimulation pattern were studied. Those were effective and the useful knowledge for developing the practical FES system was obtained.