Basic research for the development of FES-controlled cycling whdeel chair

我们已经开发了一个移动辅助系统，为残疾人与FES控制的自行车椅，可以驱动交替踏板运动引起的FES施加到他们的双腿。通过表面电极激活的肌肉是双侧股外侧肌和内侧肌、腘绳肌和臀大肌。在骑车过程中，根据踏板的扭矩变化计算刺激的顺序和强度。反馈信号被检测到从旋转编码器连接到一个车轮和踏板的轴。1例颈髓损伤伴严重步态障碍的患者，通过自行车椅扶手上的操纵杆向前和向后倾斜，使其分别向前和向后移动，我们将该自行车椅应用于10余例严重站立和步态障碍的脑卒中患者，其患侧Brunnsfrom分期接近II期。所有人都可以在不使用下肢功能性电刺激的情况下操作自行车椅。非FES自行车的速度范围为3 km/h至6 km/h。一位女性中风患者喜欢在一家大超市购物30分钟，最少的帮助。肌电图分析表明，在自行车椅手术过程中，胫骨前肌等几乎瘫痪的肌肉是活跃的，发现自行车椅与不带FES的自行车椅在实现康复计划和日常生活中的实际使用方面都令患者满意。

We have developed a mobility assisting system for the disabled with a FES-controlled cycling chair which can be driven by alternating pedaling movement induced by FES applied to their bilateral legs. Muscles to be activated through surface electrodes were bilateral vastus lateralis and medialis muscles, hamstrings and gluteus maximus. Sequence and strength of the stimulation were calculated from torque changes against the pedals, during cycling. Feedback signals were detected from ratary encorders attached to the axle of a wheel and a pedal. A cervical cord injury patient with severe gait disturbance could moved to forward and backward direction by forward and backward tilting of a joystick attached to the armrest of the cycling chair, respectively.We applied this cycling chair to more than 10 stroke patients with severe standing and gait difficulty, Whose Brunnsfrom stage of the affected leg was almost II. All of them could operate this cycling chair without using FES to the lower extremities. Speed of the non-FES cycling was ranged from 3km/h to 6km/h. A female stroke patient enjoyed shopping in a big supermarket for 30 minutes with minimum help. EMG analysis clarified that almost paralyzed muscle such as the tibiali anterior were active during the cycling chair operation.It was found that the cycling chair with and without FES satisfied the patients for achievement of rehabilitation program and practical usage in daily living.