基于功能性电刺激的腕关节多自由度震颤抑制仿真研究  

Tremor Suppression on Multi-DoF Wrist Joint Based on Functional Electrical Stimulation:A Simulation Study

作　　者：张伟[1] 张定国[1] 刘建荣[2] 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]上海交通大学瑞金医院神经内科,上海200025

出　　处：《生物医学工程学杂志》2015年第2期423-429,共7页Journal of Biomedical Engineering

基　　金：国家自然科学基金资助项目(51475292);上海市自然基金资助项目(14ZR1421300);机器人技术与系统国家重点实验室资助项目(SKLRS-2012-ZD-04)

摘　　要：应用功能性电刺激(FES)技术,设计了两自由度的病理性震颤抑制系统,能够实现对人体腕关节内外翻和上下切自主运动过程中伴随的震颤进行抑制。首先建立了腕关节的肌骨模型,针对参与腕关节内外翻和上下切运动的四块主要肌肉(桡侧腕长伸肌、桡侧腕屈肌、尺侧腕伸肌、尺侧腕屈肌)进行建模,同时建立了腕关节的二阶机械阻抗动力学模型。然后以腕关节肌骨模型为控制对象设计了FES抑震控制器,提出了基于逆模型的前馈控制与线性二次型调节器(LQR)最优控制相结合的复合控制策略。在此基础上仿真了在阶跃、正弦以及真实患者数据3种输入作为自主运动的情况下,系统对于震颤的抑制,结果表明该FES抑震控制器能够对多自由度震颤幅度实现94%以上的抑制。An automatic control system was designed to suppress pathological tremor on wrist joint with two degrees of freedom（DoF）using functional electrical stimulation（FES）.The tremor occurring in the wrist flexion-extension and adduction-abduction was expected to be suppressed.A musculoskeletal model of wrist joint was developed to serve as the control plant,which covered four main muscles（extensor carpi radialis longus,extensor carpi ulnaris,flexor carpi radialis,and flexor carpi ulnaris）.A second-order mechanical impedance model was used to describe the wrist skeletal dynamics.The core work was to design the controller and a hybrid control strategy was proposed,which combined inverse model based on feed forward control and linear quadratic regulator（LQR）optimal control.Performance of the system was tested under different input conditions（step signal,sinusoidal signal,and real data of apatient）.The results indicated that the proposed hybrid controller could attenuate over 94% of the tremor amplitude on multi-DoF wrist joint.

关 键 词：功能性电刺激 病理性震颤 肌骨模型 逆模型控制 线性二次型调节器 

分 类 号：R684[医药卫生—骨科学]