CLOSED-LOOP CONTROL OF ANTERO-POSTERIOR POSTURAL SWAY

拟议的研究将尝试设计和构建一个闭环系统 稳定脚踝前后位摆动的控制系统 截瘫患者站在功能神经肌肉旁的关节 刺激(FNS)。这项研究仅限于特定的问题。 安静地站在狭窄的范围内，这是由限制条件定义的，例如 电刺激可获得的髋关节稳定性和扭矩 肌肉。将模拟直立姿势的数学模型，并提供 在数字计算机上实现的闭环系统控制器。系统将 计算机控制的比目鱼肌和肌肉刺激器。 胫骨前肌。测角器、倾斜仪和测力鞋将 被评估为受管制变量的来源。长期目标是 一种植入式闭环电刺激的实现 矫形器可恢复上运动神经元麻痹患者的腿部功能。 在脊髓损伤引起的截瘫中，自然的神经控制 系统损坏。截瘫患者目前必须依靠膝盖-脚踝-脚 用于站立和向前推进的矫形器。FNS的期望 可以进一步提高截瘫患者站立和制作两足动物的能力 向前推进是在假设垂直稳定性的基础上预测的 姿势摆动可以通过FNS的方式进行控制。

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.