[1]许 坤,李龙委,李 娟,等.一种结合FES的足下垂康复助力机构设计[J].机械与电子,2018,(07):72-75,80.
　XU Kun,LI Longwei,LI Juan,et al.Design of Foot Drop Rehabilitation Mechanism with FES[J].Machinery & Electronics,2018,(07):72-75,80.
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一种结合FES的足下垂康复助力机构设计
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年07期
页码:
72-75,80
栏目:
智能工程
出版日期:
2018-07-25

文章信息/Info

Title:
Design of Foot Drop Rehabilitation Mechanism with FES
文章编号:
1001-2257(2018)07-0072-04
作者:
许 坤; 李龙委; 李 娟; 李伟达; 夏子玉; 万 欢
(苏州大学机电工程学院江苏省机器人与微系统研究中心,江苏 苏州 215021)
Author(s):
XU Kun;  LI Longwei;  LI Juan;  LI Weida;  XIA Ziyu;  WAN Huan
(Key Laboratory of Robotics and System of Jiangsu province, School of Mechanical and Electrical Engineering, Soochow University, Suzhou 215021, China)
关键词:
足下垂;  功能性电刺激;  踝关节助力机构;  步态检测
Keywords:
foot drop;  functional electrical stimulation;  ankle exoskeleton assist mechanism;  gait detection
分类号:
TP242
文献标志码:
A
摘要:
针对足下垂患者的康复训练,提出了一种将功能性电刺激(FES)与踝关节助力机构结合的方法。通过分析正常人体步态曲线,对力传感器检测步态的方法进行了研究,并搭建了下肢步态检测系统; 对功能性电刺激技术进行了研究,设计了功能性电刺激单元,完成了该单元的硬件设计; 通过分析足下垂患者的步态特点,提出了踝关节助力机构所需要完成的功能性目标,并完成了助力机构的研制; 根据已经搭建的平台,对传统的PID控制方法进行了研究,设计了下肢步态检测模块、功能性电刺激单元和踝关节助力机构的控制系统,完成了控制系统搭建。
Abstract:
A method combining functional electrical stimulation(FES)with ankle exoskeleton assist mechanism is proposed in this paper for rehabilitation training of patients with foot drop. First, on the basis of analyzing normal human gait curves, the method of detecting gait by using force sensor was studied and the gait detection system was established.Then, the functional electrical stimulation unit and its hardware were designed based on the study of functional electrical stimulation. Next, by analyzing the gait characteristics of the foot drop patient, the functional goal for ankle exoskeleton assist mechanism was put forward, and the prototype of the ankle exoskeleton was developed. Finally, after studying the traditional PID control method, the control system with the gait detection module, functional electric stimulation unit, and the ankle assistance mechanism was designed, thus the whole control system was established.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-03-13
基金项目:国家高技术研究发展计划(863计划)(2015AA042303); 国家自然科学基金资助项目(51475314)
作者简介:许 坤(1991-),男,山东菏泽人,硕士研究生,研究方向为医疗康复机器人; 李龙委(1990-),男,河南周口人,硕士研究生,研究方向为医疗康复机器人; 李 娟(1978-),女,江苏苏州人,硕士研究生导师,副教授,研究方向为康复机器人、高速高精度定位技术。
更新日期/Last Update: 2018-07-25