功能性电刺激下肌肉疲劳自适应的关节运动控制

项目名称： 功能性电刺激下肌肉疲劳自适应的关节运动控制

项目编号： No.51305148

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 张琴

作者单位： 华中科技大学

项目金额： 26万元

中文摘要： 恢复和代偿因神经系统损伤而导致的运动功能缺失是康复医疗工程的重要目标。功能性电刺激技术不仅可提高患者的运动功能，还在预防肌肉萎缩等方面具有重要的临床意义。然而，电刺激下肌肉快速疲劳会导致肌力下降，且疲劳本身具有复杂、时变的动态特性，增加了准确控制关节运动的难度，限制了其应用范围。针对目前尚待解决的肌肉疲劳补偿问题，本项目拟基于肌电信号开展肌肉疲劳自适应的关节运动控制研究。首先，基于肌肉协同机制，对协同肌群多通道非平稳的表面肌电信号进行分析处理，利用主元分析的方法提取疲劳肌电特征量，并建立基于肌电特征量的关节运动预测模型；然后，根据肌电特征的动态特性，监测及评估肌肉疲劳的动态特性，利用卡尔曼滤波进行关节运动预测模型的参数辨识；受中枢神经控制系统启发，采用具有前馈和反馈环节的预测控制方法，实现基于肌电信号的疲劳自适应关节运动控制。最后，以维持膝关节的姿态为例对所提出的研究方法进行实验验证。

中文关键词： 功能性电刺激；肌肉疲劳；肌电信号；神经网络滑模控制；肌肉协同

英文摘要： Functional Electrical Stimulation (FES) is one of the solutions to improve lost motor functions in persons with Spinal Cord Injury (SCI) or cerebral injury.It is a promising technique to provide active improvement to such patients in terms of mobility, stability and side-effect prevention. FES-elicited muscle force is required to be appropriate and persistent to perform intended movement or maintain a posture balance. However, muscle state changes such as muscle fatigue degrade the performance of FES. In addition, most of complete SCI patients don't have sensory feedback to detect the fatigue. Conventional FES control systems are either in open-loop or not robust to muscle state changes. Therefore, this project aims at a development of joint motion prediction and feedback control method in order to enhance the joint motion control of FES in terms of accuracy, robustness, and safety to the patients. In order to predict FES-induced joint motion, evoked-Electromyography (eEMG) will be applied to correlate the muscle electrical activity and mechanical activity. Characteristic eEMG parameters will be extracted using principal component analysis according to muscle synergy therory. And then an EMG-based joint motion predictive model will be developed. As muscle fatigue usually represents complex, time-variant, subje

英文关键词： Functional electrical stimulation；muscle fatigue；electromyography；neuro-sliding-mode control；muscle synergy