一种利用肌肉激活特性调制和评估功能性电刺激的方法
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摘要
提出一种基于肌肉激活生理特性的足下垂功能性电刺激调制与评估方法.结合肌肉募集的死区和饱和特性,利用自然步态下胫骨前肌的肌电信号和电刺激下胫骨前肌的耐受值和阈值调制电刺激输出曲线.研究基于1-范数的方法量化肌肉在电激活下的肌电信号募集水平评估所提出的电刺激调制方法的性能.通过实验比较了肌电信号调制电刺激时的胫骨前肌电诱发募集特性和自然激活时的募集特性,二者的相关系数达到0.881 5.结果表明,利用自然激活方式调制电刺激的输出方式是有效的,而基于肌肉激活程度的评价指标具有可行性.
A method of modulation and evaluation of functional electrical stimulation(FES) based on physiological properties of muscle activation is proposed in this paper. Considering the dead zone and saturation characteristics of the recruitment curves of muscles, the tibialis anterior(TA) electromyography(EMG) of natural gait, tolerance and threshold values of TA are used to modulate FES output. The 1-norm is used to quantify the recruitment level of TA EMG during electrical induced activation aimed to evaluate the proposed method performance. The experiment results show that the TA's recruitment curve under electrical stimulation has a high similarity with it in natural activation, and the correlation coefficient achieves 0.881 5. This result indicates that the proposed FES output modulation pattern is superior, and the evaluation method based on muscle recruitment is feasible.
A method of modulation and evaluation of functional electrical stimulation(FES) based on physiological properties of muscle activation is proposed in this paper. Considering the dead zone and saturation characteristics of the recruitment curves of muscles, the tibialis anterior(TA) electromyography(EMG) of natural gait, tolerance and threshold values of TA are used to modulate FES output. The 1-norm is used to quantify the recruitment level of TA EMG during electrical induced activation aimed to evaluate the proposed method performance. The experiment results show that the TA's recruitment curve under electrical stimulation has a high similarity with it in natural activation, and the correlation coefficient achieves 0.881 5. This result indicates that the proposed FES output modulation pattern is superior, and the evaluation method based on muscle recruitment is feasible.
引文
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[12] KORDJAZI N,KOBRAVI H R.Control of tibialis anterior FES envelop for unilateral drop foot gait correction using NARX neural network[C]//Annual International Conference of the IEEE Engineering in Medicine and Biology Society.San Diego:IEEE,2012:1880-1883.
[13] 陈默.基于功能性电刺激的足下垂步态矫正方法及系统实现[D].杭州:浙江大学,2012.
[14] RODRIGUEZ-FALCES J,PLACE N.Determinants,analysis and interpretation of the muscle compound action potential (M wave) in humans:implications for the study of muscle fatigue[J].European Journal of Applied Physiology,2018,118(3):501-521.
[15] SCHAUER T.Sensing motion and muscle activity for feedback control of functional electrical stimulation:ten years of experience in Berlin[J].Annual Reviews in Control,2017,44:355-374.
[16] LANGZAM E,NEMIROVSKY Y,ISAKOV E,et al.Muscle enhancement using closed-loop electrical stimulation:volitional versus induced torque[J].Journal of Electromyography and Kinesiology,2007,17(3):275-284.
[17] SEEL T,WERNER C,RAISCH J,et al.Iterative learning control of a drop foot neuroprosthesis:generating physiological foot motion in paretic gait by automatic feedback control[J].Control Engineering Practice,2016,48:87-97.
[18] LI Y R,CHEN J,YANG Y.A method for suppressing electrical stimulation artifacts from electromyography[J/OL].(2019-01-09)[2019-01-20].International Journal of Neural Systems.DOI:10.1142/S0129065718500545.
[2] ZHANG Q,HAYASHIBE M,FRAISSE P,et al.FES-induced torque prediction with evoked EMG sensing for muscle fatigue tracking[J].IEEE/ASME Transactions on Mechatronics,2011,16(5):816-826.
[3] QUANDT F,HUMMEL F C.The influence of functional electrical stimulation on hand motor recovery in stroke patients:a review[J].Experimental & Translational Stroke Medicine,2014,6(1):9-15.
[4] GALLEGO J á,ROCON E,BELDA-LOIS J M,et al.A neuroprosthesis for tremor management through the control of muscle co-contraction[J].Journal of Neuroengineering and Rehabilitation,2013,10(1):36-47.
[5] SAMPSON P,FREEMAN C,COOTE S,et al.Using functional electrical stimulation mediated by iterative learning control and robotics to improve arm movement for people with multiple sclerosis[J].IEEE Transactions on Neural Systems and Rehabilitation Engineering,2016,24(2):235-248.
[6] HO C H,TRIOLO R J,ELIAS A L,et al.Functional electrical stimulation and spinal cord injury[J].Physical Medicine and Rehabilitation Clinics of North America,2014,25(3):631-654.
[7] MELO P L,SILVA M T,MARTINS J M,et al.Technical developments of functional electrical stimulation to correct drop foot:sensing,actuation and control strategies[J].Clinical Biomechanics,2015,30(2):101-113.
[8] TAYLOR P N,BURRIDGE J H,DUNKERLEY A L,et al.Patients' perceptions of the odstock dropped foot stimulator (ODFS)[J].Clinical Rehabilitation,1999,13(5):439-446.
[9] STANIC U,TRNKOCZY A,ACIMOVIC R,et al.Effect of gradually modulated electrical stimulation on the plasticity of artificially evoked movements[J].Medical and Biological Engineering and Computing,1977,15(1):62-66.
[10] LYONS G M,WILCOX D J,LYONS D J,et al.Evaluation of a drop foot stimulator FES intensity envelope matched to tibialis anterior muscle activity during walking[C]//Proceedings of Fifth Annual Conference of the International Functional Electrical Stimulation Society.Aalborg:International FES Society,2000:130-133.
[11] BREEN P P,O’KEEFFE D T,CONWAY R,et al.A system for the delivery of programmable,adaptive stimulation intensity envelopes for drop foot correction applications[J].Medical Engineering & Physics,2006,28(2):177-186.
[12] KORDJAZI N,KOBRAVI H R.Control of tibialis anterior FES envelop for unilateral drop foot gait correction using NARX neural network[C]//Annual International Conference of the IEEE Engineering in Medicine and Biology Society.San Diego:IEEE,2012:1880-1883.
[13] 陈默.基于功能性电刺激的足下垂步态矫正方法及系统实现[D].杭州:浙江大学,2012.
[14] RODRIGUEZ-FALCES J,PLACE N.Determinants,analysis and interpretation of the muscle compound action potential (M wave) in humans:implications for the study of muscle fatigue[J].European Journal of Applied Physiology,2018,118(3):501-521.
[15] SCHAUER T.Sensing motion and muscle activity for feedback control of functional electrical stimulation:ten years of experience in Berlin[J].Annual Reviews in Control,2017,44:355-374.
[16] LANGZAM E,NEMIROVSKY Y,ISAKOV E,et al.Muscle enhancement using closed-loop electrical stimulation:volitional versus induced torque[J].Journal of Electromyography and Kinesiology,2007,17(3):275-284.
[17] SEEL T,WERNER C,RAISCH J,et al.Iterative learning control of a drop foot neuroprosthesis:generating physiological foot motion in paretic gait by automatic feedback control[J].Control Engineering Practice,2016,48:87-97.
[18] LI Y R,CHEN J,YANG Y.A method for suppressing electrical stimulation artifacts from electromyography[J/OL].(2019-01-09)[2019-01-20].International Journal of Neural Systems.DOI:10.1142/S0129065718500545.