P型迭代学习控制法在上肢FNS反馈控制中的应用

Application of P type iterative learning control in functional neuromuscular stimulation feedback control for upper limbs

目的：探讨闭环控制在功能性电刺激中的应用，根据反馈信号来实时调节控制刺激的输出强度。方法：利用Ｐ型迭代学习控制方法，对正常人和偏瘫患者上肢肘关节运动角度分别进行了运动反馈控制研究。结果及结论：迭代学习控制，算法简单，参数易调整，控制量变化平缓，轨迹跟踪精度高。在对正常人和瘫痪患者上肢肘关节的运动控制中，基本能达到预期效果。

Objective:To study closed loop control in use of functional neuromuscular stimulation. Stimulation output strength can be real time regulated according to feedback signals.Method:To use P type iterative learning control (ILC) on normal person and hemiplegic patient by upper extremity elbow joint movement angle feedback control.Result & Conclusion:P type ILC is a simple algorithm, and the parameter is easy adjusted, variable change controlled smothly, and trace tracking accruacy is high. Inmovement control of normal person and hemiplegic patient, it primarily reaches the expected effects. Author′s address\ Dept. of Rehabilitation, The Genenal Hosptital of PLA, Beijing,100853