基于中枢模式发生器的下肢功能性电刺激康复系统设计与应用

发布时间：2018-06-26 13:57

本文选题：中枢模式发生器 + 功能性电刺激　；参考：《上海交通大学》2012年硕士论文

【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。
[Abstract]:At present, a large number of patients have lost motor function due to spinal cord injury, stroke, brain trauma and other diseases. The common way is to use functional physiotherapy and rehabilitation training to carry out restorative exercise. Among them, functional electrical stimulation (FES) is an important technique. FES uses low frequency weak current pulse to stimulate the skeletal muscle which lost nerve control, which makes the limbs produce the desired movement, which has been successful in the clinical application of paraplegic walking. However, the existing electrical stimulation system in China has the shortcomings of inflexibility, difficulty to operate, and low stability. Especially in the field of lower limb rehabilitation, the research on high-end functional electrical stimulation rehabilitation system is even less. In this paper, a new functional electrical stimulation rehabilitation system based on biomimetic control mechanism is developed, which aims to serve the lower limb movement of paralyzed patients. The core mechanism is that the central pattern generator (CPG) is used to control. CPG is a neural loop in the spinal cord, and its function is to produce a pattern of isorhythmic movement of walking. In this paper, the effect of simulated CPG is considered to design electrical stimulation control system to improve the effect of lower limb electrical stimulation rehabilitation system. In this paper, firstly, the cooperative action relationship of muscle groups in biped walking is studied by gait analysis method, and the timing of muscle action is studied from the angle of joint and EMG signal, and then, based on the simplified neural oscillator model, The theoretical analysis and modeling of CPG are carried out. The specific tasks include studying the influence of the key parameters of CPG on the output mode (frequency, amplitude, phase, duty cycle, etc.), and completing the design of the control network combined with the timing of muscle action. The design of FES control system is realized. Finally, the FES lower limb walking experimental platform was set up, and the electrical stimulation experiment of the normal subjects was carried out. The designed FES control system was validated and evaluated. The experimental results based on gait analysis fully proved the feasibility of using CPG theory as control strategy, and provided a strong guarantee for the improvement of lower limb walking rehabilitation system, and laid a foundation for the future clinical rehabilitation research of paralyzed patients.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH789

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