面向动物机器人的柔性埋入式神经刺激器研制

Development of a flexible embedded neurostimulator for animal robots

神经刺激器是动物机器人的核心组成部分,尽管动物机器人的控制效果受到多种因素的影响,但神经刺激器的性能对动物机器人的调控效果具有决定性作用。面向动物机器人,利用柔性印制电路板技术研制了埋入式神经刺激器,不仅实现了刺激器通过控制信号产生参数可调的双相电流脉冲,而且对其携带方式、材料以及尺寸等方面也进行了优化,克服了传统背负式以及头插式神经刺激器存在的隐蔽性差且易感染的缺点。刺激器的静态、离体及在体性能测试结果表明,该刺激器不仅具有精确的脉冲波形输出能力,而且重量轻、体积小,在实验室和室外空间环境中均具有良好的在体工作性能。该项研究对于动物机器人的应用具有较高现实意义。

The neural stimulator is a core component of animal robots.While the control effect of animal robots is influenced by various factors,the performance of the neural stimulator plays a decisive role in regulating animal robots.In order to optimize animal robots,embedded neural stimulators had been developed using flexible printed circuit board technology.This innovation not only enabled the stimulator to generate parameter-adjustable biphasic current pulses through control signals,but also optimized its carrying mode,material,and size,overcoming the disadvantages of traditional backpack or head-inserted stimulators,which have poor concealment and are prone to infection.Static,in vitro,and in vivo performance tests of the stimulator demonstrated that it not only had precise pulse waveform output capability,but also was lightweight and small in size.It had excellent in vivo performance in both laboratory and outdoor environments.Our study has high practical significance for the application of animal robots.