摘要
基于功能性电刺激技术(FES)对腕关节震颤的辅助式抑震技术进行了研究。在前人的基础上开展了针对腕关节单自由度运动性震颤抑制的仿真研究,针对抑制震颤的同时对自主运动不产生影响这个目标给出了运动性震颤抑震系统的控制策略,以传统PID或者模糊自适应PID为控制器并在反馈回路中加入无限冲击响应(IIR)高通滤波器。在Simulink中建立了抑震控制系统,采集了震颤患者5种常见动作作为仿真系统输入进行了震颤抑制仿真,传统PID震颤抑制率最高87.05%,模糊自适应PID最高抑震率为91.5%。
We studied the tremor suppression on the wrist based on functional electrical stimulation（FES） technology.On the basis of previous work simulations were carried out for a single wrist tremor suppression of freedom of movements.For the goal of independent movements not be affected while the suppression of tremor we developed a control strategy to suppress the kinetic tremor,which take the PID or fuzzy adaptive PID controller and join in the feedback loop infinite impulse response（IIR） high-pass filter.Established the tremor suppression control system in Simulink,collected five common action tremor of patients as the input to the simulation system.The results indicated that the fuzzy adaptive PID controller can attenuate 91.5% of the tremor amplitude while the traditional PID controller is 87.05%.
出处
《机电一体化》
2014年第5期3-6,20,共5页
Mechatronics
关键词
功能性电刺激
模糊自适应PID
无限冲击响应
震颤
functional electrical stimulation
fuzzy adaptive PID
infinite impulse response
tremor
