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一种用于中风康复中减轻功能性电刺激诱导肌肉疲劳的便携式按需辅助上肢混合外骨骼。

A portable assist-as-need upper-extremity hybrid exoskeleton for FES-induced muscle fatigue reduction in stroke rehabilitation.

作者信息

Stewart Ashley, Pretty Christopher, Chen Xiaoqi

机构信息

Mechanical Engineering, University of Canterbury, 20 Kirkwood Ave, Upper Riccarton, Christchurch, 8041 New Zealand.

出版信息

BMC Biomed Eng. 2019 Nov 19;1:30. doi: 10.1186/s42490-019-0028-6. eCollection 2019.

DOI:10.1186/s42490-019-0028-6
PMID:32903348
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7422522/
Abstract

BACKGROUND

Hybrid exoskeletons are a recent development which combine Functional Electrical Stimulation with actuators to improve both the mental and physical rehabilitation of stroke patients. Hybrid exoskeletons have been shown capable of reducing the weight of the actuator and improving movement precision compared to Functional Electrical Stimulation alone. However little attention has been given towards the ability of hybrid exoskeletons to reduce and manage Functional Electrical Stimulation induced fatigue or towards adapting to user ability. This work details the construction and testing of a novel assist-as-need upper-extremity hybrid exoskeleton which uses model-based Functional Electrical Stimulation control to delay Functional Electrical Stimulation induced muscle fatigue. The hybrid control is compared with Functional Electrical Stimulation only control on a healthy subject.

RESULTS

The hybrid system produced 24° less average angle error and 13.2° less Root Mean Square Error, than Functional Electrical Stimulation on its own and showed a reduction in Functional Electrical Stimulation induced fatigue.

CONCLUSION

As far as the authors are aware, this is the study which provides evidence of the advantages of hybrid exoskeletons compared to use of Functional Electrical Stimulation on its own with regards to the delay of Functional Electrical Stimulation induced muscle fatigue.

摘要

背景

混合外骨骼是一种最新的技术发展，它将功能性电刺激与致动器相结合，以改善中风患者的心理和身体康复。与单独使用功能性电刺激相比，混合外骨骼已被证明能够减轻致动器的重量并提高运动精度。然而，很少有人关注混合外骨骼减轻和管理功能性电刺激引起的疲劳的能力，或者适应用户能力的能力。这项工作详细介绍了一种新型按需辅助上肢混合外骨骼的构建和测试，该外骨骼使用基于模型的功能性电刺激控制来延迟功能性电刺激引起的肌肉疲劳。在一名健康受试者身上，将混合控制与仅使用功能性电刺激的控制进行了比较。

结果

与单独使用功能性电刺激相比，混合系统产生的平均角度误差减少了24°，均方根误差减少了13.2°，并且显示出功能性电刺激引起的疲劳有所减轻。

结论

据作者所知，这项研究提供了证据，表明与单独使用功能性电刺激相比，混合外骨骼在延迟功能性电刺激引起的肌肉疲劳方面具有优势。

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A survey on robotic devices for upper limb rehabilitation.上肢康复机器人设备研究综述。
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Effects of electromyography-driven robot-aided hand training with neuromuscular electrical stimulation on hand control performance after chronic stroke.
肌电图驱动的机器人辅助手部训练结合神经肌肉电刺激对慢性卒中后手控制能力的影响
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