功能性电刺激脚踏车训练系统建模及仿真分析

Modeling and Simulation on FES Cycling Training System

针对FES脚踏车训练系统建立数学模型并对模型进行仿真。该系统模型由模式发生器,电刺激关节力矩模型及人机动力学模型组成。根据关节伸展弯曲时,脚踏车曲柄对应角度和速度关系及三组肌肉群的状态,建立模式发生器模型。对腿部肌肉群刺激时序优化得到最终刺激模式。通过计算肌肉在电信号刺激下的肌肉激活度、最大肌肉力、肌肉力长度特性及肌肉力速度特性建立电刺激肌肉力模型,得到电信号刺激肌肉时产生的肌肉力大小及肌肉力在关节处的合力矩。根据拉格朗日方程和关节力矩建立人机动力学模型。采用典型人体数据,以Simulink为仿真平台,通过差分、迭代等方法对系统模型求解,得出刺激信号与肌肉、关节及曲柄的动力学关系。以脊髓损伤患者对训练系统进行实验,对比曲柄处合力矩与曲柄角度关系验证脚踏车系统模型方法正确可行。

Aiming to study FES cycling system,the mathematics model and simulation were presented.The model includes pattern generator,stimulation-joint torque and man-machine kinetic model.Based on three muscles group state,the crank angle and velocity when the joint extending and flexing,the pattern generator model was built.Optimizing the stimulative time sort,the final stimulative pattern was explored.By calculating muscle active,muscle maximal force,the characteristic of muscle force-length and muscle force-velocity under signal stimulation,the electric stimulating muscle model,stimulative muscle force and the torque on the joint can be got.Based on Lagrange equation and joints torque,the man-machine kinetic model was built.Using typical body data and Simulink platform,the relationship of kinetics among the stimulation signal,muscles,joints and crank was found using the method of iteration and difference to solve the system model.From the experimental data of SCI patient on the system,comparing the results of crank torque and crank angle between simulation and experiment,it is showed the model of FES cycling is feasible.