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Wrist tremor suppression based on repetitive control with multi-muscle electrical stimulation ?

机译：基于重复控制和多肌电刺激的腕部震颤抑制 ？

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Tremor is a rhythmic, alternating swing motion caused by involuntary repetition of muscle contraction and relaxation. Although it does not endanger life, it will make the work and daily life of patients difficult. Functional electrical stimulation (FES) has been shown as a promising technique for tremor suppression. Wrist motion is produced by a group of muscles in a collective and coordinate way. However, existing FES-based design methods mostly aim at one pair of muscles associated with the wrist motion, thus limiting the performance of tremor suppression. Furthermore, the possible high level of stimulation required for a single muscle pair can also accelerate muscle fatigue of the patients. To address these problems, this paper uses multiple muscles FES to suppress tremor by fully considering the properties of wrist motion. This paper develops a wrist musculoskeletal model with Hammerstein structure, identifies its parameters, and proposes repetitive controllers based on frequency modified inverse algorithm to suppress tremor. Experimental results are presented to demonstrate its advantages over single muscle stimulation based tremor suppression.
机译：震颤是由肌肉反复收缩和放松引起的有节奏的交替挥杆动作。尽管它不会危及生命，但会使患者的工作和日常生活变得困难。功能性电刺激（FES）已被证明是一种有前途的震颤抑制技术。腕部运动是由一组肌肉以集体和协调的方式产生的。但是，现有的基于FES的设计方法主要针对与腕部运动相关的一对肌肉，因此限制了震颤抑制的性能。此外，单个肌肉对可能需要的高水平刺激也会加速患者的肌肉疲劳。为了解决这些问题，本文通过充分考虑腕部运动的特性，使用多条肌肉FES来抑制震颤。本文建立了具有Hammerstein结构的腕部肌肉骨骼模型，识别其参数，并提出了基于频率修正逆算法的重复控制器来抑制震颤。提出实验结果以证明其优于基于单肌肉刺激的震颤抑制。

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