面向鸽子机器人的磁刺激线圈仿真设计及实验研究  

Simulation design and experimental study of magnetic stimulation coil for robot pigeon

作　　者：许孟华 蒲鑫 常铭 宋阳 马福喆 槐瑞托[1] 杨俊卿[1] 常辉[1] 邵峰 汪慧[1] XU Menghua;PU Xin;CHANG Ming;SONG Yang;MA Fuzhe;HUAI Ruituo;YANG Junqing;CHANG Hui;SHAO Feng;WANG Hui(Shandong Key Laboratory of Robot and Intelligent Technology,Shandong University of Science and Technology,Shandong 266510,P.R.China;Shandong Benming Biotechnology Company Limited,Weifang,Shandong 262299,P.R.China)

机构地区：[1]山东科技大学、山东省机器人与智能技术重点实验室,山东青岛266510 [2]山东本明生物科技股份有限公司,山东潍坊262299

出　　处：《生物医学工程学杂志》2023年第1期141-148,共8页Journal of Biomedical Engineering

基　　金：国家自然科学基金资助项目(61903230);山东省自然科学基金(ZR202103010716);山东省自然科学基金(ZR2020MF098)。

摘　　要：为了探究将磁刺激技术应用于动物机器人运动控制的可行性,本文面向鸽子机器人,仿真分析线圈半径、匝数等因素对磁刺激强度、深度及聚焦性的影响,提出线圈设计方案。将线圈置于鸽子头部及腿部,磁刺激同时记录腿部肌电。结果发现,磁刺激时肌电明显增强。降低磁刺激系统输出频率,输出电流增大,肌电随之增强。与脑部磁刺激相比,刺激坐骨神经引起的肌电增强反应更为显著。这表明,磁刺激系统通过驱动该线圈可以有效地实现对脑及外周神经功能的调控。本研究为后续实用性线圈优化改进提供了理论及实验指导,为动物机器人磁刺激运动控制实施奠定了初步的理论和实验基础。To explore the feasibility of applying magnetic stimulation technology to the movement control of animal robots, the influence of coil radius, number of turns and other factors on the intensity, depth and focus of magnetic stimulation was simulated and analyzed for robot pigeons. The coil design scheme was proposed. The coil was placed on the head and one of the legs of the pigeon, and the leg electromyography(EMG) was recorded when magnetic stimulation was performed. Results showed that the EMG was significantly strengthened during magnetic stimulation. With the reduction of the output frequency of the magnetic stimulation system, the output current was increased and the EMG was enhanced accordingly. Compared with the brain magnetic stimulation, sciatic nerve stimulation produced a more significant EMG enhancement response. This indicated that the magnetic stimulation system could effectively modulate the functions of brain and peripheral nerves by driving the coil. This study provides theoretical and experimental guidance for the subsequent optimization and improvement of practical coils, and lays a preliminary theoretical and experimental foundation for the implementation of magnetic stimulation motion control of animal robots.

关 键 词：磁刺激 线圈 动物机器人 

分 类 号：Q811[生物学—生物工程] TP242[自动化与计算机技术—检测技术与自动化装置]