Yoshida K, Horch K
Department of Bioengineering, University of Utah, Salt Lake City 84112, USA.
IEEE Trans Biomed Eng. 1996 Feb;43(2):167-76. doi: 10.1109/10.481986.
This paper describes a closed-loop functional neuromuscular stimulation system that uses afferent neural activity from muscle spindle fibers as feedback for controlling position of the ankle joint. Ankle extension against a load was effected by neural stimulation through a dual channel intrafascicular electrode of a fascicle of the tibial nerve that innervated the gastrocnemius muscle. Ankle joint angle was estimated from recordings of tibialis anterior and lateral gastrocnemius spindle fiber activity made with dual channel intrafascicular electrodes. Experiments were conducted in neurally intact anesthetized cats and in unanesthetized decerebrate cats to demonstrate the feasibility of this system. The system was able to reach and maintain a fixed target ankle position in the presence of a varying external moment ranging in magnitude between 7.3 and 22 N-cm opposing the action of the ankle extensor, as well as track a sinusoidal target ankle position up to a frequency of 1 Hz in the presence of a constant magnitude 22- or 37-N-cm external moment.
本文描述了一种闭环功能性神经肌肉刺激系统，该系统利用来自肌梭纤维的传入神经活动作为反馈来控制踝关节的位置。通过支配腓肠肌的胫神经束的双通道束内电极进行神经刺激，从而实现对抗负荷的踝关节伸展。根据用双通道束内电极记录的胫前肌和外侧腓肠肌梭纤维活动来估计踝关节角度。在神经完整的麻醉猫和未麻醉的去大脑猫身上进行了实验，以证明该系统的可行性。该系统能够在存在大小在7.3至22 N-cm之间变化的、与踝关节伸肌作用相反的外部力矩的情况下，达到并维持固定的目标踝关节位置，并且能够在存在大小恒定为22或37 N-cm的外部力矩的情况下，跟踪高达1 Hz频率的正弦目标踝关节位置。
