Research and Development of Simulation System for Restoring Motor Functions of Paralyzed Extremities by FES

(1)建立了肌肉骨骼模型，实现了站立运动的计算机仿真。采用优化方法对肌肉骨骼模型进行计算机仿真，实现了站立运动刺激数据的生成。法向肌电信号与生成的增产数据对比表明，采用模型模拟和优化方法生成标准增产数据是有效的。(2)针对某患者的表征，提出了转矩发生器模型及其参数辨识方法。计算机模拟可以预测刺激正常受试者的单膝伸肌所引起的反应。研究了包含非线性特征和几何结构的肌肉骨骼模型。正常受试者部分实验结果经试错法调整参数后进行预测。(3)对于非线性和时变特性的建模。更多的特性，i)发现在临床应用的FES中，在20Hz的刺激频率下，肌肉会发生增强。ii)发现m波和近红外光谱在肌肉疲劳检测中是有用的。Iii)建立了基于游戏生理学的肌肉激活模型，并对增强进行了预测，预测了肌肉反应的捕获特性。(4)针对运动障碍患者的系统操作，提出了一种以特定动作为代表的控制命令检测方法。通过三维位置传感器或加速度计测量的正常受试者和C5-6四肢瘫痪患者的运动可以被人工神经网络识别。(5)提出了一种假设使用轮椅的患者任意到达恢复的到达目标检测方法。到达目标检测系统由激光笔和三维位置/角度传感器组成。该检测系统在实际应用中被证明是有用的。少

(1) Musculoskeletal model was developed and computer simulation of standing up motion was implemented. Generation of stimulation data for standing up motion was achieved by the computer simulation using the musculoskeletal model with the optimizing method. Comparison between EMG signals of normals and the generated stimulation data showed that the method of using model simulation and the optimization was effective in generating standard stimulation data.(2) Torque generator model and parameter identification method of the model was proposed for representation of a certain patient. Computer simulation could predict responses caused by stimulating one knee extensor muscle of a normal subject. A musculoskeletal model including nonlinear characteristics and geometric structure of the musculoskeletal system was also studied. Part of experimental results with normal subjects was predicted after parameter tuning by trial and error manner.(3) For modeling of nonlinear and time variable charact … More eristics, i) it was found that muscle potentiation occurred at 20Hz of stimulus frequency that used in clinical applications of FES.ii) M-waves and near infrared spectroscopy was found to be useful in muscle fatigue detection. iii) muscle activation model based on the playsiology was developed ant predictions of the potentiation and the catch property in muscle response was predicted by the model.(4) A detection method of control commands that were represented by specific movements was proposed for system operation by motor disabled patients. Movements of normal subjects and a C5-6 qtuadriplegic patient measured by a 3 dimensional position sensor or an accelerometer could be recognized by an artificial neural network.(5) A method of reaching target detection was proposed for arbitrary reaching restoration assuming patients who used the wheelchair. Reaching target detection system was composed of a laser pointer and 3 dimensional position/angle sensors. The detection system was found to be useful in practical. Less