FNS中肢体运动的迭代学习控制研究

Research of Iterative Learning Control of Limbs Movement in Functional Neuromuscular Stimulation

肢体运动测量与控制技术是功能性神经肌肉电刺激(FNS)技术的一个重要内容。本文阐述了 FNS 中肢体测控技术的主要研究内容。着重讨论了迭代学习控制在肢体运动控制中的研究,并从仿真和实验的角度,讨论了迭代学习算法(ILC)对于 FNS系统的非线性和时变性良好的控制性能。该方法是首次被用于肢体运动的控制研究。

Measurement & control technologies of limbs movement is an important research fields in Functional Neuromuscular Stimulation(FNS). The research contents of measurements & control technologies in FNS are introduced in this paper. The Iterative Learning Control(ILC) of the limbs movement are discussed in details. From the results of simulation arid human experiment, ILC shows its good performance in adaptability to the nonlinear and time variety system structure in FNS control system.