【作者】 王颖；

【导师】 张定国；

【作者基本信息】 上海交通大学 ， 机械电子工程， 2012， 硕士

【摘要】 目前,大量病人由于脊髓损伤、脑卒中、脑外伤等疾病导致肢体瘫痪而丧失运动功能,常用的方式是通过功能性理疗和康复训练来进行恢复性锻炼。其中,功能性电刺激(FES)技术是一种重要的技术,FES利用低频弱电流脉冲刺激失去神经控制的骨骼肌,让肢体产生期望的动作,这已经在截瘫行走的临床应用中取得了小范围成功。然而国内现有的电刺激系统存在不灵活、不易操作、且稳定性不高的缺点,尤其是在下肢康复应用领域,高端的功能性电刺激康复系统的相关研究更是匮乏。本论文将研发一种基于仿生控制机制的新型功能性电刺激康复系统,目标是服务于瘫痪病人的下肢行走运动。其核心机理是采用了中枢模式发生器(CPG)控制。CPG是存在于脊髓中的神经环路,其作用在于产生步行等节律运动的模式。本文考虑模拟CPG的作用来设计电刺激控制系统,以此来改善下肢电刺激康复系统的作用效果。本文首先以步态分析方法研究双足步行运动中各肌肉群的协同动作关系,从关节角度和肌电信号两方面对肌肉动作时序做了深入研究;而后,基于简化后的神经振荡器模型,对CPG进行了理论分析与建模,具体任务包括研究CPG关键参数对输出模式(频率、幅值、相位、占空比等)的影响,结合肌肉动作时序完成了控制网络的设计,并实现了FES控制系统的设计。最后,搭建了FES下肢步行实验平台,开展了正常受试者参与的电刺激实验,对所设计的FES控制系统进行了验证与评估。基于步态分析的实验结果充分证明了以CPG理论为控制策略的可行性,也为下肢步行康复系统的完善提供了有力保障,为未来开展的瘫痪患者临床康复实验研究打下了基础。更多还原

【Abstract】 At present, a number of patients lose motor function of limbs due to spinal cord injury, stroke, and traumatic brain injury and so on. Rehabilitation training and therapy is often used to restore the motor functions for the paralyzed patients. Functional electrical stimulation (FES) is one of the important techniques well recognized by researchers and clinicians in rehabilitation field. In theory, FES uses electrical pulse of low level to stimulate the peripheral nerve of skeletal muscles in order to generate the expected movements, and it has already achieved clinical success in some applications including paraplegic walking. However, the domestic research level of FES is still low, and the FES systems are inflexible, unstable and hard to operate for the end-users at present. This work aims to develop a novel FES rehabilitation system based on bionic technology. Central pattern generator (CPG) model is studied, which is a neural circuit in the spinal cord of vertebrates. The functions of CPG are mimicked, and it is used to design the FES control system, in order to improve the effects of the FES on walking.The content of the thesis is given as follows. Firstly, the synergistic action of the muscles involved in walking movements is studied by the method of gait analysis, and the action sequence of all the relevant muscles is deeply investigated by means of both joint-angle analysis and electromyography (EMG) analysis. Secondly, model of neural oscillator, which is simplified from the CPG theory, is introduced and studied. The effects of the key parameters of CPG are analyzed, and the CPG network is designed. According to the theoretical study, a control system based on CPG is developed. Lastly, the FES experimental system and platform is constructed. The work mentioned above is verified and evaluated on the healthy subjects via real FES experimentation. The experimental results validate the feasibility of the CPG based control strategy, and guarantee the practical application of the FES lower-limb rehabilitation system. Moreover, it provides experimental support for clinical study on paralyzed patients in future.更多还原