"DEVELOPMENT OF FUNCTIONAL ELECTRICAL STIMULATION (FES) SYSTEM WITH HIERARCHICAL CONTROL FUNCTION AND ITS APPLICATION TO THE CONTROL OF THE PARALYZED UPPER EXTREMITIES"

多通道功能性电刺激（FES）是近年来公认的一种有效的和临床上有用的方法，用于恢复瘫痪的上下肢运动功能。本课题的目标是研制一种可用于临床的高性能FES系统。获得以下结果：（1）对运动过程中的多通道肌电信号进行了测量和分析，并将其作为多通道FES中多通道刺激波形生成的标准模式。（2）建立了一个具有层次结构的生物模拟器的基础数据，为进一步研究奠定了基础。（3）研制了临床实用的便携式FES系统。它将在一年内在日本上市。（4）采用双微机结构实现了主从式FES系统。(5)A提出了一种新的基于幻象感觉原理的感觉反馈方法。(6)A通过引入多通道FES方法，为实现瘫痪人体的翻身运动提供了一种新的途径。

Multichannel Functional Electrical Stimulation (FES) has been recently accepted as an efficient and clinically useful method for restoration of motor function of paralyzed upper and lower extremities. In this project, objective is to develop a high performance FES system which can be clinically used. Following results were obtained: (1)Multichannel EMG signals during motion were measured and analyzed, and they were used as standard pattern for creating multichannel stimulation waveforms in multichannel FES. (2)Basic data for a biological simulator with hierarchical structure were established for further study. (3)Clinically useful portable FES system was developed. It will be commercially available within one year in Japan. (4)Master-slave type FES system was realized by a dual microcomputer configuration. (5)A new sensory feedback method was proposed which was based on phantom sensation principle. (6)A new approach to the realization of the rolling-over motion of the paralyzed body by introducing the multichannel FES method.