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

我们已经为残疾人开发了一种行动辅助系统，使用FES控制的自行车椅，可以通过在他们的双腿上施加FES诱导的交替踩踏运动来驱动。通过表面电极激活的肌肉包括双侧股外侧肌和内侧肌、腘绳肌和臀大肌。在循环过程中，通过对踏板的扭矩变化计算出刺激的顺序和强度。反馈信号是从连接在轮轴和踏板上的随机编码器中检测到的。严重步态障碍的颈髓损伤患者，通过前后倾斜固定在自行车椅扶手上的操纵杆，可以实现向前和向后移动。我们将该轮椅应用于10余例严重站立和步态困难的脑卒中患者，这些患者患腿的Brunnsfrom阶段几乎为II。所有人都可以在不使用FES到下肢的情况下操作这个自行车椅。非fes骑行速度为3km/h ~ 6km/h。一位女性中风患者在一家大型超市享受了30分钟的购物乐趣。肌电图分析表明，在自行车椅手术期间，几乎瘫痪的肌肉如胫骨前肌是活跃的。结果表明，不论有无FES，骑车椅均能满足患者康复计划的实现和日常生活的实际使用。

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.