Fundamental Study of Simultaneous Antagonistic Situmilation by FES and Modeling Study of the Neuromusculoskeletal System

电刺激神经肌肉骨骼系统引起非线性反应。本研究的目的是明确同时拮抗刺激下的响应，以发展改善非线性的方法，并为系统对电刺激的响应建模提供知识。本研究得到以下结果：建立了测量电刺激对神经肌肉骨骼系统反应的实验系统。结果表明，在同时进行拮抗刺激后，激动剂的刺激强度-力特性的陡增斜率逐渐变缓。这表明，同时刺激方法是有效的控制瘫痪肢体的功能电刺激（FES）。除结果外，2。从强度-力特征的斜率变化可以看出，肌肉长度影响同时拮抗模拟的反应，消除神经支配后未观察到这种影响。从这些结果可以得出包含脊髓反射的神经肌肉系统对斜度变化的贡献。提出了一种新的刺激模式生成方法，该方法将连续运动分割成若干个“基本运动”，并将它们的刺激模式组合成原始运动的刺激模式。通过基础的肌电图分析和重力对刺激模式制作和神经肌肉骨骼系统建模影响的认识，证实了该方法的有效性。最终在临床应用中调整定型模式。为了开发易于修改激励模式的FES系统，研究了FES系统的控制命令检测器和激励模式的修改方法。这些方法是有效的，为开发实际的FES系统提供了有用的知识。

Electrical stimulation to the neuromusculoskeletal system causes nonlinear response. The purpose of this research is to make clear the response by simultaneous antagonistic stimulation in order to develop the method of improving the nonlinearity, and to have knowledge for modeling that system responding to electrical stimulation. Following results were obtained by this research.1. Experimental system for measuring the response of neuromusculoskeletal system caused by electrical stimulation was achieved. It was confirmed that steepy rising slope of Stimulus Intensity-Force characteristic of the agonist became gradual by simultaneous antagonistic stimulation. This shows that the simultaneous stimulation method is useful for controlling parapyzed extremities by functional electrical stimulation (FES). In addition to the results,2. It was suggested by the slope changes of the Intensity-Force characteristics that the muscle length affected the response of simultaneous antagonistic simulation, and the effect was not observed after eliminating the innervation. From these results, contribution of the neuromuscular system containing the spinal cord reflex to the slope change as obtained.3. A new method of making stimulation pattern, in which consecutive motion is divided into some "elemental movements" and stimulation pattern of the original mortion is made up by combining their stimulation patterns, was proposed. Validity of the method was confirmed by fundamental EMG analysis and knowledge of influence of the gravity on making stimulation pettern and on modeling the neuromusculoskeletal system was obtained.4. Stumulation pattern is finally adjusted in clinical application. In order to develop the FES system for easily modifying stimulation pattern, control command detector for FES system and modification method of stimulation pattern were studied. Those were effective and the useful knowledge for developing the practical FES system was obtained.