Adaptive and Patient Control of Low-Load Prolonged Stretch

0503117 Quesada该项目建议使用自动控制的气动肌肉致动器（PMA）与低负荷延长拉伸（LLPS）设备。LLPS器械用于治疗与脑血管发作、脑或脑脊液损伤相关的关节挛缩。随着时间的推移，由于痉挛和张力亢进而产生的挛缩会使患者感到非常不安和痛苦。使用LLPS器械和其他替代技术（如连续铸造）旨在改善关节和肌肉的状况并防止挛缩。在现有的LLPS设备中，设置由护理者周期性地控制。该项目旨在利用传统的控制技术，通过使用PMA来调整LLPS设备。建议通过在设备中并入PMA来使用用于LLPS的双模式控制机制。提出了采用两种PID控制算法来自动调节拉伸载荷和关节角位置的方法。该项目还包括PMA驱动LLPS器械与传统无源LLPS的比较评价，方法是在卒中患者身上进行测试。

0503117QuesadaThe project proposes the use of automatically controlled pneumatic muscle actuators (PMAs) in conjunction with low load prolonged stretch (LLPS) devices. The LLPS devices are used to treat joint contractures associated with cerebrovascular attacks, brain or cerebrospinal cord injuries. The contractures that develop due to spasticity and hypertonia over time can become quite disturbing and painful to the patient. Use of LLPS devices and other alternative techniques such as serial casting are intended to improve the condition and prevent the contractures of the joints and muscles. In the existing LLPS devices, the settings are controlled periodically by the caregivers. The project is designed to make use of conventional control techniques to adjust LLPS devices through the use of PMAs. It is proposed to use a dual-mode control mechanism for LLPS by incorporating PMAs in the devices. It is suggested that two PID control algorithms be used to adjust the tensile load and the joint angular position automatically. The project further includes a comparative evaluation of PMA driven LLPS devices with conventional passive LLPS by testing them on stroke patients.