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

我们为残疾人开发了一种活动辅助系统，该系统配备了一种FES控制的自行车椅，可以通过对残疾人双腿施加FES诱导的交替踏板运动来驱动。通过表面电极激活的肌肉是双侧股外侧肌和内侧肌、腿筋和臀大肌。刺激的顺序和强度是根据骑自行车时踩在踏板上的扭矩变化来计算的。反馈信号是从安装在车轮和踏板轴上的差饷记录器检测到的。颈髓损伤合并严重步态障碍的患者，通过前后倾斜自行车椅扶手上的操纵杆，可以向前和向后移动。我们应用该自行车椅治疗了10多名中风患者，他们的腿部Brunnsfrom分级几乎为II级，他们都可以在不使用FES的情况下操作这种自行车椅。非FES自行车的速度从3公里/小时到6公里/小时不等。一名女性中风患者喜欢在大型超市购物30分钟，只需最少的帮助。肌电分析表明，在自行车椅手术中，胫骨前部等几乎瘫痪的肌肉仍处于活跃状态，无论有无FES，都能满足患者的康复方案和日常生活中的实际使用。

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.