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Functional Electrical Stimulation System for Motion Control of Lower and Upper Extremities.

用于下肢和上肢运动控制的功能性电刺激系统。

基本信息

批准号：
61550282
负责人：
MINAMITANI Haruyuki
金额：
$ 1.09万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1986
资助国家：
日本
起止时间：
1986 至 1987
项目状态：
已结题

项目摘要

Restoring behavioral functions of paraplegic or quadriplegic patients who have been suffered from spinal cord injury or brain damage is a great social demands for their everday livings. Functional Electrical Stimulation (FES) is one of the rehabilitation techniques to reconstruct the basic functions since the FES can activate the denerved muscles of the patients. Primary restoration of gait functions of the paraplegic patient was attained by using the FES with open-loop control system and mechanical support system. In order to obtain stable biped gait and standing, however,closed-loop control system is required.In this study, closed-loop control of joint angle and muscle contractile force of lower extremety was carried out on normal human subjects by using the FES with closed-loop control system. The total FES system consisted of micro-computer, electrical stimulator, angle and force sensors, AD converter, DA converter, and electrodes. On the first stage of the study, physiological mec … More hanism of the FES on lower extremity was made clear, and then computer controlled stimulator satisfying high electrical safety was developed. Using the FES system, joint angle controls of ankle and knee were carried out with two PID controllers prepared for both moving directions of flexion and extension. Appendant use of command filter in the controllers provided decrease in overshoot and fluctuation of the controlled angle in the load free state. As for the muscle force control, FES system with PID controller and modulator was used and a good control response was obtained. In order to investigated load effect on the control objects, model reference adaptive control system (MRACS) was used. Similar controlled performances to those of the well designed PID controls were obtained in the load free state. When the load changed, MRACS provided decrease in the oscillatory behavior of the joint angle.In conclusion, it can be stated that the developed FES system with PID controller and command filter as well as MRACS are highly available for the joint angle controls of ankle and knee, and also for the control of muscle contractile force. Practical use for restoration of behavioral functions of paraplegic patients might be available using the FES system in the near future. Less

对脊髓损伤或脑损伤后的截瘫或四肢瘫患者进行行为功能恢复是社会对他们日常生活的巨大需求。功能性电刺激（FES）可以激活失神经肌肉，是重建患者基本功能的康复技术之一。采用具有开环控制系统和机械支撑系统的功能性电刺激，初步恢复了截瘫患者的步态功能。为了获得稳定的步态和站立，需要闭环控制系统，本研究利用闭环控制系统对正常人下肢关节角度和肌肉收缩力进行了闭环控制。整个FES系统由微机、电刺激器、角度和力传感器、AD转换器、DA转换器和电极组成。在研究的第一阶段，生理mec ...更多信息明确了FES在下肢的作用机理，研制了具有高电气安全性的计算机控制刺激器。使用FES系统，踝关节和膝关节的角度控制进行了两个PID控制器准备的两个运动方向的屈曲和伸展。控制器中指令滤波器的合理使用，减小了无负载状态下的超调量和控制角的波动。在肌肉力控制方面，采用PID控制器和调节器相结合的FES系统，获得了良好的控制响应。为了研究负载对控制对象的影响，采用了模型参考自适应控制系统（MRACS）。在无负载状态下，获得了与设计良好的PID控制器相似的控制性能。当负载变化时，MRACS提供了减少关节角的振荡行为。总之，可以说，开发的FES系统与PID控制器和命令滤波器以及MRACS是高度可用的踝关节和膝关节的角度控制，也用于肌肉收缩力的控制。在不久的将来，FES系统可能会用于截瘫患者行为功能的恢复。少