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机器人灵感的人类阻抗控制通过功能电刺激.

Marek Sierotowicz, Claudio Castellini

    IEEE ... International Conference on Rehabilitation Robotics : [proceedings]
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    概括
    此摘要是机器生成的。

    功能电刺激 (FES) 显示出神经康复的前景. 使用FES的新控制循环有效地引导上肢运动到各种位置,无需视觉线索,在不同姿势上很好地泛化.

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    科学领域:

    • 康复工程 康复工程
    • 神经科学是一个神经科学.
    • 生物医学工程 生物医学工程

    背景情况:

    • 功能电刺激 (FES) 有助于神经病患者的运动功能受损.
    • 目前的FES应用专注于特定任务的运动,缺乏针对不同位置目标的一般控制理论.
    • 需要可适应的FES系统来帮助患者在他们的周围个人空间.

    研究的目的:

    • 分析肌肉阻抗控制循环的性能,使用FES来执行力和运动.
    • 评估系统在用户周围个人空间中对不同目标位置进行概括的能力.
    • 评估使用FES的用户体验对整体性能的影响.

    主要方法:

    • 一个 exonerve 系统将用户的上肢移动到飞机上预定义的目标位置.
    • 控制循环使用FES来产生力量和运动,而无需视觉反或意志力.
    • 性能随着时间的推移和各种目标位置的表现.

    主要成果:

    • 基于FES的控制循环展示了对不同手臂姿势的良好概括能力.
    • 该研究的特点是系统的性能随着时间的推移以及其适应各种目标位置的适应性.
    • 用户与FES系统的经验被评估与性能结果的关系.

    结论:

    • 拟议的肌肉阻抗控制循环与FES显示了在神经病患者中能够实现更广泛的运动范围的潜力.
    • 该系统能够在不同的手臂姿势中进行概括,这表明迈向更具多功能性的基于FES的控制理论的一步.
    • 进一步的研究可以在这些发现的基础上开发更有效的FES辅助和康复设备.