FNS肢体多关节运动轨迹跟踪的实验研究

EXPERIMENTAL RESEARCH ON TRAJECTORY FOLLOWING OF HUMAN MULTI-JOINT MOTION WITH FNS

本文着重对功能神经电刺激 (FNS)肢体多关节运动刺激脉冲的控制算法进行了比较实验研究。首先介绍了FNS系统的基本组成及原理 ,然后借助多功能FNS肢体运动控制平台 ,分别采用常规控制算法和自适应控制算法 ,以人体肘关节和腕关节的屈曲运动为控制目标 ,将体表电极分别置于肱二头肌和掌长肌运动点上 ,通过FNS运动状态测量装置 ,获取肘关节和腕关节运动角位移随时间的变化曲线。实验结果表明 ,与常规控制算法比较 ,基于人体生理特点的自适应控制算法使屈肘和屈腕运动获得了最佳的轨迹跟踪性能 ,并且刺激波形变化稳定、平滑 。

Functional Neuromuscular Stimulation is a new method of rehabilitative medical engineering for paralyzed person. We stressed on the comparative experimental researches on stimulating pulses control algorithm used in FNS multi joint limb motion. First, the basic principle and the structure of FNS system were presented. Then by means of the conventional control algorithm and the adaptive limb control algorithm employed in the multi purpose FNS limbs motion control system, the curves of angular displacements vs. Time for the elbow and the wrist joint motion were acquired based on FNS limbs motion measurement appliance. Experimental results showed that the optimum trajectory following performance for flexion motion of the elbow and the wrist was achieved by using adaptive control algorithm suitable for physiological characteristics as compared with conventional control method. Moreover, patient had no bad physiological reaction since the stimulation pulses generated were stable and smooth.