Sharma Nitin, Stein Richard
Department of Physiology, University of Alberta, Edmonton ALB T6G2E1 Canada.
Annu Int Conf IEEE Eng Med Biol Soc. 2012;2012:1904-7. doi: 10.1109/EMBC.2012.6346325.
Joint or segment angle trajectories of able-bodied persons are often recorded or mimicked as reference trajectories for walking restoration in paraplegia. In this paper, lower limb segment angle trajectories are computed from simple mathematical models developed to represent functional electrical stimulation (FES) and a novel brace based walking. The new models incorporate the double support and single support phases of walking. Dynamic optimization is utilized to design walking trajectories that minimize muscle activations and arm reaction forces generated from the walker. Compared to the voluntary walking trajectories, the new trajectories are more representative of FES-based walking as only a limited number of muscle are stimulated to compute walking trajectories.
健全人的关节或节段角度轨迹常被记录或模仿，作为截瘫患者行走恢复的参考轨迹。在本文中，下肢节段角度轨迹是根据为代表功能性电刺激（FES）和一种基于新型支具的行走方式而开发的简单数学模型计算得出的。新模型纳入了行走的双支撑和单支撑阶段。利用动态优化来设计行走轨迹，以尽量减少步行者产生的肌肉激活和手臂反作用力。与自主行走轨迹相比，新轨迹更能代表基于FES的行走，因为在计算行走轨迹时只刺激了有限数量的肌肉。
