Basic research for the development of FES-controlled cycling whdeel chair

FES控制自行车轮椅研制的基础研究

• 批准号: 14380388
• 负责人: HANDA Yasunobu
• 金额: $ 8万
• 依托单位: TOHOKU UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-14380388/
• 关键词: cycling wheel chair; functional electrical stimulation; spinal cord injury; stroke; gait disturbance; 足漕ぎ車椅子; 機能的電気刺激; 脊髄損傷; 足踏み式車椅子

We have developed a mobility assisting system for the disabled with a FES-controlled cycling chair which can be driven by alternating pedaling movement induced by FES applied to their bilateral legs. Muscles to be activated through surface electrodes were bilateral vastus lateralis and medialis muscles, hamstrings and gluteus maximus. Sequence and strength of the stimulation were calculated from torque changes against the pedals, during cycling. Feedback signals were detected from ratary encorders attached to the axle of a wheel and a pedal. A cervical cord injury patient with severe gait disturbance could moved to forward and backward direction by forward and backward tilting of a joystick attached to the armrest of the cycling chair, respectively.We applied this cycling chair to more than 10 stroke patients with severe standing and gait difficulty, Whose Brunnsfrom stage of the affected leg was almost II. All of them could operate this cycling chair without using FES to the lower extremities. Speed of the non-FES cycling was ranged from 3km/h to 6km/h. A female stroke patient enjoyed shopping in a big supermarket for 30 minutes with minimum help. EMG analysis clarified that almost paralyzed muscle such as the tibiali anterior were active during the cycling chair operation.It was found that the cycling chair with and without FES satisfied the patients for achievement of rehabilitation program and practical usage in daily living.

我们已经开发了一个移动辅助系统，为残疾人与FES控制的自行车椅，可以驱动交替踏板运动引起的FES施加到他们的双腿。通过表面电极激活的肌肉是双侧股外侧肌和内侧肌、腘绳肌和臀大肌。在骑车过程中，根据踏板的扭矩变化计算刺激的顺序和强度。反馈信号被检测到从旋转编码器连接到一个车轮和踏板的轴。1例颈髓损伤伴严重步态障碍的患者，通过自行车椅扶手上的操纵杆向前和向后倾斜，使其分别向前和向后移动，我们将该自行车椅应用于10余例严重站立和步态障碍的脑卒中患者，其患侧Brunnsfrom分期接近II期。所有人都可以在不使用下肢功能性电刺激的情况下操作自行车椅。非FES自行车的速度范围为3 km/h至6 km/h。一位女性中风患者喜欢在一家大超市购物30分钟，最少的帮助。肌电图分析表明，在自行车椅手术过程中，胫骨前肌等几乎瘫痪的肌肉是活跃的，发现自行车椅与不带FES的自行车椅在实现康复计划和日常生活中的实际使用方面都令患者满意。

项目成果

Y.Handa, K.Seki, T.Fujii, M.Sato, T.Takahashi: "An intelligent mobility support system for the disabled with and without FES"New Frontiers of Rehabilitation Medicine in Asia. 24. (2004)

Y.Handa、K.Seki、T.Fujii、M.Sato、T.Takahashi：“针对有或没有 FES 的残疾人的智能移动支持系统”亚洲康复医学新前沿。

Takayuki TAKAHASHI, Masaki HIROCHI, Takamitsu UNO, Eiji NAKANO: "Side-Slip Detection with Casters and its Application to High Speed Wheeled Mobile Robots"Proc. The 2nd Int.Conf. on Mechatronics and Information Technology. 201-296 (2003)

Takayuki TAKAHASHI、Masaki HIROCHI、Takamitsu UNO、Eiji NAKANO：“脚轮侧滑检测及其在高速轮式移动机器人中的应用”Proc。

高沢稔, 西山裕己, 高橋隆行, 庄司道彦, 半田康延, 中野栄二: "機能的電気刺激を用いた下肢障害者のためのパワーアシスト足漕ぎ車椅子"第21回日本ロボット学会学術講演会. CDROM(2H28). (2003)

Minoru Takazawa、Hiroki Nishiyama、Takayuki Takahashi、Michihiko Shoji、Yasunobu Handa、Eiji Nakano：“使用功能性电刺激为下肢残疾人提供动力辅助踏板轮椅”第 21 届日本机器人学会年会 CDROM (2H28)。 (2003)