MULTIJOINT CONTROL FOR LOWER EXTREMITY NEUROPROSTHESES

下肢神经假体的多关节控制

• 批准号: 2272733
• 负责人: HOWARD Jay CHIZECK
• 金额: $ 21.81万
• 依托单位: CASE WESTERN RESERVE UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 1995
• 资助国家: 美国
• 起止时间: 1995-03-15 至 1999-02-28
• 项目状态: 已结题
• 来源: https://reporter.nih.gov/project-details/2272733
• 关键词: ankle; balance; biomedical equipment development; chordate locomotion; electrostimulus; fatigue; gait; hemiplegia; hip; human subject; human therapy evaluation; knee; mathematical model; model design /development; neuromuscular stimulator; paraplegia

DESCRIPTION (Adapted from the Applicant's Abstract): The long-term goal of this research is to develop electrical stimulation systems that provide home and workplace mobility to paraplegic and hemiplegic patients having paralysis arising from spinal cord injury, stroke or head injury. This work is directed toward the development of rehabilitative devices that do not require substantial orthoses. There is a need for improved control of motion, so as to achieve better balance, smoother and more energy efficient locomotion, reliable accomplishment of stair climbing and descent, and crutch walking. This project will addresses critical control problems whose solution is necessary for neuroprostheses to attain these goals. The underlying scientific hypothesis of the proposed work is that specified motions of the knee, ankle and hip can be achieved by feedback controllers which, on the basis of real time measurements of joint angles, foot endpoint position and foot contact forces, modulate the co-stimulation of muscles, and consequently the net moments and mechanical impedances at each joint, so as to obtain the desired motion. A second hypothesis is that there are multiple sets of stimulus waveforms that achieve the same motion, and that the amount of co-stimulation involved in each set is related to the ability of the control system to achieve the prescribed trajectory despite mechanical disturbances. A third hypothesis is that the amount of co-stimulation is related to the duration of effective control (e.g., the fatigue resistance). This project will test these hypotheses by developing and characterizing the performance of such feedback controllers. Specific Aims are: 1) to develop and experimentally verify predictive models of electrically-stimulated muscle response. Models will be developed for the ankle, knee and hip joints (separately and in combination), and will account for co-stimulation of agonist muscle electrodes, modulation of stimulus pulse frequency and width, passive and external mechanical loads, and muscle fatigue. Models relating electrical stimulation and joint angles to generated net joint moments and the active stiffness and damping of the resulting biomechanical systems will be considered; 2) to develop and evaluate the ability of feedback controllers that modulate electrical stimulation to achieve specified trajectories of joint angles and/or contact forces; and 3) the best of these controllers will be applied to the achievement of improved stair ascent and descent by paraplegic patients, through computer-controlled electrical stimulation.

描述（改编自申请人的摘要）：长期 这项研究的目标是开发电刺激系统 为截瘫和偏瘫患者提供家庭和工作场所的活动能力 因脊髓损伤、中风或中风而导致瘫痪的患者 头部受伤。 这项工作旨在开发 不需要大量矫形器的康复设备。 那里 需要改进运动控制，以便实现更好的效果 平衡、运动更平稳、更节能、可靠 完成爬楼梯和下楼梯以及拐杖行走。 这 项目将解决关键控制问题，其解决方案是 神经假体实现这些目标所必需的。 底层的 拟议工作的科学假设是 膝盖、脚踝和臀部可以通过反馈控制器来实现， 基于关节角度、脚端点实时测量 位置和足部接触力，调节共同刺激 肌肉，因此净力矩和机械阻抗 每个关节，以获得所需的运动。 第二个假设是 有多组刺激波形可以达到相同的效果 运动，并且每组中涉及的共同刺激量是 与控制系统实现规定的能力有关 尽管存在机械干扰，仍能保持轨迹。 第三个假设是 共刺激的量与有效持续时间有关 控制（例如，抗疲劳性）。 该项目将测试这些 通过发展和表征此类的表现来提出假设 反馈控制器。 具体目标是： 1) 开发和 实验验证电刺激肌肉的预测模型 回复。 将为踝关节、膝关节和髋关节开发模型 （单独和组合），并将考虑共同刺激 激动肌肉电极，刺激脉冲频率的调制和 宽度、被动和外部机械负载以及肌肉疲劳。 将电刺激和关节角度与生成网络相关的模型 关节力矩以及由此产生的主动刚度和阻尼 将考虑生物力学系统； 2) 开发和评估 反馈控制器调节电刺激的能力 实现关节角度和/或接触力的指定轨迹； 3）这些控制器中最好的将应用于成就 改善截瘫患者上下楼梯的效果 计算机控制的电刺激。