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Multi-Joint Control and Functional Restoration System of Paralyzed Extremity Using Functional Electrical Stimulation

功能性电刺激瘫痪肢体多关节控制与功能恢复系统

基本信息

批准号：
01550341
负责人：
MINAMITANI Haruyuki
金额：
$ 1.22万
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：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

项目摘要

Functional electrical stimulation (FES) is an electrical stimulation applied to peripheral or intramuscular nerve of paraplegic, hemioplegic and quadriplegic patients caused by spinal cord injury or brain damage and has been studied to reconstruct the paralyzed limb functions. Gait, standing and the other limb functions have been in part regained using open-loop FES system, but limited by some inaccurate controlled conditions. An accurate control of joint angle and muscle contractile force is required especially for the stable limb functions without support system. To satisfying this requirement feedback control FES system was developed in this study. The FES system with digital PID control was first constructed for bidirectional movement of flexion and extension on ankle and knee joints. In order to reduce undesirable oscillatory limb movement related to the nonlinear characteristic of muscle contraction, a command filter (LPF) and coactive muscle control of the agonist and antagonist were appended in the system. Further modification of the system using adaptive control, Model Reference Adaptive Control System, was also developed to attain smooth bidirectional movement of ankle and knee joints. In addition, a real time method estimating muscle tension from the EMG signal was developed by means of the auto regressive moving average model. Finally, FES system of standing posture control was developed and applied to paraplegic patients.

功能电刺激（FES）是对由于脊髓损伤或脑损伤引起的截瘫、偏瘫和四肢瘫痪患者的外周神经或肌内神经进行电刺激，以重建瘫痪肢体功能的一种方法。步态，站立和其他肢体功能已经部分恢复使用开环FES系统，但限制了一些不准确的控制条件。关节角度和肌肉收缩力的精确控制对于无支撑系统的稳定肢体功能尤为重要。为了满足这一要求，本研究开发了反馈控制FES系统。针对踝关节和膝关节的双向屈伸运动，首先构建了数字PID控制的FES系统。为了减少与肌肉收缩非线性特性相关的肢体振荡运动，在系统中加入了指令滤波器（LPF）和激动剂和拮抗剂的协同肌肉控制。采用自适应控制的进一步改进系统，模型参考自适应控制系统也被开发出来，以实现踝关节和膝关节的平滑双向运动。此外，利用自回归移动平均模型，提出了一种从肌电信号实时估计肌肉张力的方法。最后，开发了FES站立姿态控制系统，并将其应用于截瘫患者。