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 with a flat interface nerve electrode.
作者信息
Park Hyun-Joo, Durand Dominique M
机构信息
Neural Engineering Center, Department of Biomedical Engineering, Case Western Reserve University, Wickenden 112, Cleveland, Ohio, 44106, USA.
出版信息
Muscle Nerve. 2015 Dec;52(6):1088-95. doi: 10.1002/mus.24654. Epub 2015 Sep 7.
INTRODUCTION
A flat interface nerve electrode (FINE) has been shown to improve fascicular and subfascicular selectivity. A recently developed novel control algorithm for FINE was applied to motion control of the rabbit ankle.
METHODS
A 14-contact FINE was placed on the rabbit sciatic nerve (n = 8), and ankle joint motion was controlled for sinusoidal trajectories and filtered random trajectories. To this end, a real-time controller was implemented with a multiple-channel current stimulus isolator.
RESULTS
The performance test results showed good tracking performance of rabbit ankle joint motion for filtered random trajectories and sinusoidal trajectories (0.5 Hz and 1.0 Hz) with <10% average root-mean-square (RMS) tracking error, whereas the average range of ankle joint motion was between -20.0 ± 9.3° and 18.1 ± 8.8°.
CONCLUSIONS
The proposed control algorithm enables the use of a multiple-contact nerve electrode for motion trajectory tracking control of musculoskeletal systems.
引言
扁平界面神经电极（FINE）已被证明可提高束状和束下选择性。一种最近为FINE开发的新型控制算法被应用于兔踝关节的运动控制。
方法
将一个14触点的FINE放置在兔坐骨神经上（n = 8），并针对正弦轨迹和滤波随机轨迹控制踝关节运动。为此，使用多通道电流刺激隔离器实现了一个实时控制器。
结果
性能测试结果表明，对于滤波随机轨迹和正弦轨迹（0.5 Hz和1.0 Hz），兔踝关节运动具有良好的跟踪性能，平均均方根（RMS）跟踪误差<10%，而踝关节运动的平均范围在-20.0±9.3°至18.1±8.8°之间。
结论
所提出的控制算法能够使用多触点神经电极进行肌肉骨骼系统的运动轨迹跟踪控制。
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