面向病理性震颤的生机电一体化辅助式抑震技术研究

项目名称： 面向病理性震颤的生机电一体化辅助式抑震技术研究

项目编号： No.51475292

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 张定国

作者单位： 上海交通大学

项目金额： 84万元

中文摘要： 病理性震颤治疗的一种重要手段是辅助式抑震技术，目前主要包括机器人外骨骼和功能性电刺激，但这两种方法各自有一些局限性，而且各自为战，导致了目前辅助式抑震技术远没有走向临床应用。本项目将融合这两种技术,探索抑震技术的生机电一体化科学基础，期望能实现上肢及手部多自由度的病理性震颤抑制。项目将从理论技术与科学实验两个方面开展研究。主要研究外骨骼与电刺激的协调控制机制，基于生机接口的多源信息处理技术，基于电极阵列的肌肉选择性刺激方法,以及基于表面电刺激的神经阻断技术。拟解决实时闭环抑震控制，不同类型驱动器（电机vs.肌肉）的协调控制，以及多目标肌肉的刺激选择性三个关键问题。集成设计穿戴式的外骨骼、生机接口、电刺激模块，形成具有传感-控制-驱动的生机电一体化抑震演示系统，展示核心研究成果。同时开展基于转化医学的大范围临床测试与评估, 为辅助式抑制技术走向临床应用打下基础。

中文关键词： 机器人外骨骼；功能性电刺激；人机接口；震颤抑制；生机电一体化

英文摘要： Assistive technology is one of the important treatments for pathological tremor, which includes robotic exoskeleton and functional electrical stimulation (FES). However, the two methods work independently, and have some limitations respectively, which make assistive technology is far from clinical application at present. This project will combine the two methods, and explore the scientific basis of biomechatronics for assistive tremor suppression. The objective is to attenuate pathological tremor of upper limb and hand with multiple degrees of freedom. This research will be conducted based on technical theories and scientific experiments. The following issues will be investigated: synergic control strategy for exoskeleton and FES, multiple-source signal processing of human-machine interface, selectivity of muscle stimulation using electrode array, and nerve block technology based on surface electrical stimulation. Three key problems are expected to be solved: real-time closed-loop control of tremor suppression, harmonic control of different actuators (electrical machine vs. skeletal muscle), and stimulation selectivity of multiple targeted muscles. Wearable exoskeleton, human-machine interface and FES system will be designed and integrated towards a demonstration system of tremor suppression with sensing-control-actuation function, which can exhibit the key achievements obtained. Meanwhile, a large-scale clinical experiment towards translational medicine will be conducted to test and evaluate the performance of the prototype. A solid foundation for clinical application will be laid through this study.

英文关键词： Robotic Exoskeleton;Functional Electrical Stimulation;Human-Machine Interface;Tremor Suppression;Biomechatronics