使用平面界面神经电极对兔踝关节进行运动控制。
Motion control of the rabbit ankle joint using a flat interface nerve electrode.
作者信息
Park Hyunjoo, Durand Dominique M
机构信息
Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, USA.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:6789-92. doi: 10.1109/IEMBS.2009.5333979.
A flat interface nerve electrode (FINE) improves spatial fascicular selectivity by reshaping a peripheral nerve and realigning the fascicles inside the nerve trunk. Enhanced fascicular selectivity enables the control of different muscles with a single electrode. However, building a control algorithm using a multi-contact nerve electrode is a challenging problem due to the complexities of the neuromuscular skeletal systems. We developed a motion control algorithm for the neuromuscular skeletal systems using a FINE. The proposed control algorithm separates the static and dynamic properties and finds an inverse model efficiently with little prior knowledge of the system. The algorithm was tested on the motion control of the rabbit ankle joint with a FINE placed on the sciatic nerve. The results show good tracking performance of the proposed control algorithm.
扁平界面神经电极（FINE）通过重塑周围神经并重新排列神经干内的束状结构来提高空间束状选择性。增强的束状选择性使得能够用单个电极控制不同的肌肉。然而，由于神经肌肉骨骼系统的复杂性，使用多触点神经电极构建控制算法是一个具有挑战性的问题。我们开发了一种使用FINE的神经肌肉骨骼系统运动控制算法。所提出的控制算法分离了静态和动态特性，并且在对系统几乎没有先验知识的情况下有效地找到了逆模型。该算法在置于坐骨神经上的FINE对兔踝关节的运动控制上进行了测试。结果表明所提出的控制算法具有良好的跟踪性能。
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