本文選題：中樞模式發(fā)生器 + 功能性電刺激�。� 參考：《上海交通大學》2012年碩士論文

【摘要】：目前,大量病人由于脊髓損傷、腦卒中、腦外傷等疾病導致肢體癱瘓而喪失運動功能,常用的方式是通過功能性理療和康復訓練來進行恢復性鍛煉。其中,功能性電刺激(FES)技術是一種重要的技術,FES利用低頻弱電流脈沖刺激失去神經(jīng)控制的骨骼肌,讓肢體產(chǎn)生期望的動作,這已經(jīng)在截癱行走的臨床應用中取得了小范圍成功。然而國內(nèi)現(xiàn)有的電刺激系統(tǒng)存在不靈活、不易操作、且穩(wěn)定性不高的缺點,尤其是在下肢康復應用領域,高端的功能性電刺激康復系統(tǒng)的相關研究更是匱乏。本論文將研發(fā)一種基于仿生控制機制的新型功能性電刺激康復系統(tǒng),目標是服務于癱瘓病人的下肢行走運動。其核心機理是采用了中樞模式發(fā)生器(CPG)控制。CPG是存在于脊髓中的神經(jīng)環(huán)路,其作用在于產(chǎn)生步行等節(jié)律運動的模式。本文考慮模擬CPG的作用來設計電刺激控制系統(tǒng),以此來改善下肢電刺激康復系統(tǒng)的作用效果。 本文首先以步態(tài)分析方法研究雙足步行運動中各肌肉群的協(xié)同動作關系,從關節(jié)角度和肌電信號兩方面對肌肉動作時序做了深入研究;而后,基于簡化后的神經(jīng)振蕩器模型,對CPG進行了理論分析與建模,具體任務包括研究CPG關鍵參數(shù)對輸出模式(頻率、幅值、相位、占空比等)的影響,結(jié)合肌肉動作時序完成了控制網(wǎng)絡的設計,并實現(xiàn)了FES控制系統(tǒng)的設計。最后,搭建了FES下肢步行實驗平臺,開展了正常受試者參與的電刺激實驗,對所設計的FES控制系統(tǒng)進行了驗證與評估。基于步態(tài)分析的實驗結(jié)果充分證明了以CPG理論為控制策略的可行性,也為下肢步行康復系統(tǒng)的完善提供了有力保障,為未來開展的癱瘓患者臨床康復實驗研究打下了基礎。
[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.
【學位授予單位】：上海交通大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH789

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