基于电机辅助功能性电刺激脚踏车系统的建模

Modeling of a motor-based functional electrical stimulation cycling system

为了将功能性电刺激技术应用于肢体运动康复,开发一种用于下肢肢体功能重建与运动康复的脚踏车系统,提出了基于电机辅助功能性电刺激脚踏车系统模型,系统包括运动学模型、动力学模型、肌肉刺激模型、电机模型及负载模型.通过Matlab/Simulink平台建立仿真模型.将实验数据作为输入数据代入模型进行运算.仿真结果与实际实验结果对比,表明模型输出结果与实际结果基本吻合,证明了模型的正确性,为基于模型的功能性电刺激脚踏车闭环反馈控制系统的研制奠定基础.利用该方法可以克服系统启动和负载变化引起的刺激器大脉宽刺激电流输出,可降低肌肉疲劳速度保证训练效果.

In order to apply functional electrical stimulation（FES） techniques to the rehabilitation engineering of paraplegic limbs,a FES cycling system was developed,and a cycling plant model based on motor-based functional electrical stimulation was presented.Furthermore,dynamic models,muscle stimulation,and motor as well as loading models were set up.Experimental data was induced as input via the Matlab/Simulink platform.Theoretical model outputs show agreement with the experimental results,demonstrating the effectiveness of the plant model and experimental operation.The results can be viewed as a basis of feedback control system design.Impulse width of simulator output current caused by starting and loading variations can be maintained,and muscle fatigue can be improved to ensure the efficiency of the training.