【作者】 毕胜； 王福根； 鄢达来； 吴怀宇； 章刚华； 熊沈蜀； 周兆英；

【Author】 Bi Sheng, Yan Da Lai, Wu Huai Yu et al.Department of rehabilitation. PLA General Hospital, Beijing, 100853

【机构】 解放军总医院康复医学科； 清华大学精密仪器系；

【摘要】 目的 在功能性电刺激中,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,同时对正常人上肢肘关节运动角度和腕关节运动角度同时进行运动反馈控制.方法 FNS刺激肱二头肌和前臂屈肌,以预期关节角度为目标,以肘关节和腕关节的角度传感器数值为反馈标准.结果 采用迭代学习控制,算法简单,参数易调整,控制量变化平缓,轨迹跟踪精度高,在对单关节和多关节运动控制中,基本能达到预期效果.结论 P型迭代学习控制方法为FNS在临床上的应用提供了一个新的控制方法.更多还原

【Abstract】 Objectives To use P-type iterative learning control ( ILC) on normal person and hemiplegic patient by upper extremity elbow joint movement angle feedback control and applicated normal people upper extremity in elbow joint and wrist joint movement angles simultaneous movement feedback control in Functional Neuromuscular Stimulation(FNS). Method FNS stimulated the biceps and flexors. The goal was predictive angles of joints and the criterion of feedback were number of angle sensors in elbow and wrist. Results The Applications P-type Iterative Learning Control(ILC) method is a simple algorithm, and parameter is easy adjusted, controlled variable change gently, trace tracking accuracy is high. Controlling single and niulti joints movement can reach expected effects on the whole. Conclusion P-type Iterative Learning Control(ILC) supplies new control method for applications of FNS in clinic.更多还原