Xu Menghua, Pu Xin, Chang Ming, Song Yang, Ma Fuzhe, Huai Ruituo, Yang Junqing, Chang Hui, Shao Feng, Wang Hui
Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China.
Shandong Benming Biotechnology Company Limited, Weifang, Shandong 262299, P. R. China.
Sheng Wu Yi Xue Gong Cheng Xue Za Zhi. 2023 Feb 25;40(1):141-148. doi: 10.7507/1001-5515.202211057.
To explore the feasibility of applying magnetic stimulation technology to the movement control of animal robots, the influence of coil radius, number of turns and other factors on the intensity, depth and focus of magnetic stimulation was simulated and analyzed for robot pigeons. The coil design scheme was proposed. The coil was placed on the head and one of the legs of the pigeon, and the leg electromyography (EMG) was recorded when magnetic stimulation was performed. Results showed that the EMG was significantly strengthened during magnetic stimulation. With the reduction of the output frequency of the magnetic stimulation system, the output current was increased and the EMG was enhanced accordingly. Compared with the brain magnetic stimulation, sciatic nerve stimulation produced a more significant EMG enhancement response. This indicated that the magnetic stimulation system could effectively modulate the functions of brain and peripheral nerves by driving the coil. This study provides theoretical and experimental guidance for the subsequent optimization and improvement of practical coils, and lays a preliminary theoretical and experimental foundation for the implementation of magnetic stimulation motion control of animal robots.
为探究将磁刺激技术应用于动物机器人运动控制的可行性，针对机器鸽模拟分析了线圈半径、匝数等因素对磁刺激强度、深度和聚焦性的影响，提出了线圈设计方案。将线圈置于鸽子头部和一条腿上，进行磁刺激时记录腿部肌电图（EMG）。结果显示，磁刺激过程中EMG显著增强。随着磁刺激系统输出频率降低，输出电流增大，EMG相应增强。与脑磁刺激相比，坐骨神经刺激产生的EMG增强反应更显著。这表明磁刺激系统可通过驱动线圈有效调节脑和外周神经功能。本研究为后续实用线圈的优化改进提供了理论和实验指导，为实现动物机器人的磁刺激运动控制奠定了初步的理论和实验基础。
