Fundamental Research about Reconstruction of Motor Function by Combining Robot Manipulation with Functional Electrical Stimulation (FES)

近年来，脑卒中患者的增加已成为一个很大的问题。大多数患者都是偏瘫，但他们可以通过康复来恢复运动能力。在康复治疗方面，我们注重患者的自主运动。结果表明，反复随意运动具有较高的康复效果。但是，在缺陷之后，来自大脑的信号流被中断，特别是对于严重受伤的患者。因此，本研究旨在构建一个脑卒中患者的康复系统，将脑电图（EEG，intention）与功能性电刺激（FES，sensory feedback）相结合，在运动指令和感觉反馈回路之间重建一个闭环。我们开发了一种方法来提取明确的事件相关去兴奋（ERD，特定的脑电波）通过使用健康的未经训练的受试者。两例患者均显示FES电压变化有可能提取明确的ERD。运动想象与功能性脑电刺激的结合对后续的想象任务产生了一定的效果。功能性电刺激。

The increase of stroke patients have become a great deal in these days. Most of the patients are hemiplegia, but they can regain their motor abilities by doing rehabilitations. In the aspect of rehabilitations, we focused on the patient's voluntary movement. It is shown that the repeated voluntary movement had highly rehabilitation effect. But, after the deficit, the signal flow from the brain is interrupted especially for the heavily injured patients. So, in this research, we aimed to construct a rehabilitation system for stroke patients by combining electroencephalogram (EEG, intention) with Functional Electrical Stimulation (FES, sensory feedback) which could reconstruct a closed-loop between the motor command and sensory feedback loop. We Developed a method to extract clear Event Related Desynchronization (ERD, specific brain waves) by using healthy non-trained subjects. Both of the patients showed that FES voltage changes has a possibility to extract clear ERD. And the combination of motor imagery with FES caused some good effect for the following imagery task. Functional Electrical Stimulation.