CLOSED-LOOP CONTROL OF ANTERO-POSTERIOR POSTURAL SWAY

本研究将尝试设计和构建一个闭环 稳定踝关节前后姿势摆动的控制系统 截瘫患者站立时的功能性神经肌肉关节 刺激（FNS）。 研究仅限于以下具体问题： 安静地站在狭窄的范围内，这些范围由约束所定义， 髋关节的稳定性和电刺激可获得的扭矩 肌肉. 将模拟直立姿势的数学模型， 在数字计算机上实现的闭环控制器。 系统将 包括一个计算机控制的肌肉刺激器。Soleus和M. 胫骨前肌 测角仪、倾斜仪和力靴将 被评估为受调节变量的来源。 长期目标是 植入式闭环电刺激实现 上运动神经元麻痹的矫形器恢复腿部功能。 在脊髓损伤导致的截瘫中，自然的神经控制 系统损坏。 截瘫患者目前必须依靠膝-踝-足 用于站立和向前行进的矫形器。 希望FNS 能进一步提高截瘫患者的站立和做仰卧起坐的能力， 向前发展的预测假设，直立稳定性 并可通过FNS控制姿势摇摆。

The proposed research will attempt to design and construct a closed-loop control system for stabilizing antero-posterior postural sway at the ankle joint in paraplegic individuals standing by functional neuromuscular stimulation (FNS). The research is limited to the specific problem of quiet standing within narrow limits which are defined by contraints such as stabilization of the hip and torque available from electrically stimulated muscle. Mathematical models of upright posture will be simulated, and a closed-loop controller implemented on a digital computer. The system will iclude a computer controlled muscle stimulator for m. soleus and m. tibialis anterior. Goniometers, inclinometers and force shoes will be evaluated as sources of the regulated variable. The long-term objective is the realization of an implantable closed-loop electrical stimulation orthosis to restore leg function in upper motor neuron paralysis. In paraplegia resulting from spinal cord injury, the natural neural control system is damaged. Paraplegics must presently rely on knee-ankle-foot orthoses for standing and forward progression. The expectation that FNS can further improve the ability of paraplegics to stand and make biped forward progression is predicted on the assumption that upright stability and postural sway can be controlled by means of FNS.