中国组织工程研究

中国组织工程研究 ›› 2012, Vol. 16 ›› Issue (26): 4841-4846.doi: 10.3969/j.issn.1673-8225.2012.26.018

• 骨与关节损伤基础实验 basic experiments of bone and joint injury • 上一篇    下一篇

服务于功能性电刺激的双足步态实验

王 颖，张定国   

  1. 上海交通大学机器人研究所，上海市 200240
  • 收稿日期:2011-11-18 修回日期:2011-12-14 出版日期:2012-06-24 发布日期:2013-11-02
  • 通讯作者: 张定国，副教授，上海交通大学机器人研究所，上海市 200240 dgzhang@sjtu.edu.cn
  • 作者简介:Wang Ying★, Studying for master’s degree, Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China oursimplove@gmail.com
  • 基金资助:

    国家自然科学基金(51075265)；上海市科委基础研究重点项目(09JC1408400)

Bipedal gait experiment for functional electrical stimulation

Wang Ying, Zhang Ding-guo   

  1. Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2011-11-18 Revised:2011-12-14 Online:2012-06-24 Published:2013-11-02
  • Contact: Zhang Ding-guo, Associate professor, Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China dgzhang@sjtu.edu.cn
  • About author:Wang Ying★, Studying for master’s degree, Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240, China oursimplove@gmail.com

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摘要：

背景：功能性电刺激利用低频弱电流脉冲刺激失去神经控制的肌肉已经在截瘫行走的临床应用中取得了小范围成功，但现有的电刺激模式存在不灵活、不易操作、且稳定性不高的缺点。
目的：基于步态分析方法，研究涉及到步行动作的各肌肉群的协同动作关系，将肌肉电刺激模式简化为无需患者操作的规律性控制策略，并验证该策略在功能性电刺激实验中的有效性。
方法：针对双足步行的特点，提出一种基于关节角变化趋势及肌电信号强度变化的步态研究方法，旨在服务于功能性电刺激的设计，为下肢肌肉提供理想的电刺激模式，使人体产生相应的肌肉群协同动作，从而使受试者最终实现非自主控制的行走运动。
结果与结论：实验结果一方面验证了基于步态分析的电刺激模式设计是可行的，对今后加入更复杂的控制方式提供了依据，另一方面也为未来开展的瘫痪患者临床康复实验研究打下了基础。

关键词: 功能性电刺激, 步态, 行走, 双足, 肌电信号

Abstract:

BACKGROUND: Functional electrical stimulation (FES) uses electrical pulse of low level to stimulate the peripheral nerve of muscles in order to restore the motor functions, and it has already achieved clinical success in area of paraplegic walking. However, the patterns of FES are inflexible, unstable and hard to operate for the end-users at present.
OBJECTIVE: To study the synergistic action of the muscles involved in walking movements for simplifying the design of FES control patterns based on gait analysis and to make the subjects perform expected involuntary walking movements using FES.
METHODS: According to the characteristics of bipedal walking, a method of gait research was proposed based on measurement and analysis of joint angle and electromyography signal. It served for FES system design, which generated the desired stimulation patterns for muscle groups of lower limbs, and realized the corresponding collaborative activation of the muscle groups.
RESULTS AND CONCLUSION: Satisfactory involuntary walking of a healthy subject without self-control was realized using the FES method proposed. The results from the experiment had verified the feasibility of FES in lower limb rehabilitation. It sheds light on more complex FES control methods, and provides experimental support for clinical study on paralyzed patients in future.

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