摘要
借助人工电兴奋或刺激瘫痪病患者的神经肌肉是现代康复工程中的一种新方法 ,其关键技术是生成刺激脉冲的控制算法。介绍了FNS系统的组成及原理 ,建立了基于FNS的迭代学习控制算法 ,给出了相应的学习控制律与迭代学习步骤 ,最后利用FNS肢体运动控制平台 ,采用迭代学习控制算法 。
FNS systems operated by providing computer controlled electrical stimuli via electrodes to paralyzed muscles is one of the modern rehabilitative technologies for people with neurological disorders.The stimulating pulses generating approach is the key technique of FNS system.In this paper,the basic principle and the structure of FNS system are given.Then the iterative learning control algorithm based on FNS system is presented,and both the learning control law and the iterative learning procedures are given.Finally,based on FNS limb motion control system,the clinical experiments on joint angle motion trajectories of both the elbow flexion and the wrist flexion were conducted by means of the iterative learning control algorithm.
出处
《测控技术》
CSCD
2000年第7期53-55,共3页
Measurement & Control Technology
