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首页> 外文期刊>Medical engineering & physics. >Control of paraplegic ankle joint stiffness using FES while standing.
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Control of paraplegic ankle joint stiffness using FES while standing.

机译：站立时使用FES控制截瘫性踝关节僵硬。

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The goal of this work was to investigate the feasibility of ankle stiffness control using functional electrical stimulation (FES) while standing, as relevant to the development of feedback systems for balance control in paraplegia.The work was carried out using apparatus in which the subject stands with all joints above the ankles braced, and where ankle moment is provided via FES of the ankle flexor and extensor muscles. A feedback control strategy for ankle stiffness control is proposed in which the ankle moment is controlled to a reference value equal to the product of the desired stiffness and the measured ankle angle. Two subjects participated in the study: one neurologically-intact person, and one paraplegic person with a complete thoracic spinal cord lesion.The results show that during forward-leaning postures, when the plantarflexor muscles are stimulated, relatively high ankle moments of up to 60 Nm can be generated and accurate moment tracking is achieved. As a consequence, ankle stiffness is close to the desired value. During backward lean, on the other hand, the dorsiflexor muscles are stimulated. These muscles are relatively weak and only modest ankle moments of up to around 15 Nm can be produced. As a result, dorsiflexor stimulation readily saturates giving poor stiffness control. It was further observed that when the desired stiffness is higher more external force has to be applied to perturb the body away from the neutral (upright) position.We conclude that: (i) accurate ankle stiffness control, up to the fundamental strength limits of the muscles, can be achieved with controlled FES; (ii) ankle stiffness control using FES in paraplegia has the potential to ease the task of stabilising upright posture by application of additional upper-body forces.
机译：这项工作的目的是研究站立时使用功能性电刺激（FES）进行踝关节僵硬控制的可行性，这与开发用于截瘫的平衡控制反馈系统有关。脚踝上方的所有关节都支撑住，并且通过踝屈肌和伸肌的FES提供踝力矩。提出了一种用于脚踝刚度控制的反馈控制策略，其中，将脚踝力矩控制在一个等于所需刚度与所测踝角之积的参考值。有2名受试者参加了研究：1名神经学完好的人和1名截瘫的人患有完整的胸脊髓损伤。可以生成Nm并实现精确的力矩跟踪。结果，踝部刚度接近期望值。另一方面，在向后倾斜过程中，会刺激背屈肌。这些肌肉相对较弱，只能产生约15 Nm的适度踝力矩。结果，背屈刺激容易饱和，从而导致差的刚度控制。进一步观察到，当所需的刚度更高时，必须施加更多的外力来使身体远离中立（直立）位置。通过控制FES可以实现肌肉; （ii）在截瘫患者中使用FES控制踝关节僵硬有可能通过施加额外的上身力量来减轻稳定直立姿势的任务。

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