Human Joint Movement Control And Postural Balance Research For Lower Limb Rehabilitation

In recent years,the population of patients with lower limb paralysis caused by stoke and spinal cord injury(SCI)is large and still keeps growing.Therefore,the demand of motor function rehabilitation for them is huge.For the sake of natural and steady movement during motor function rehabilitation,strong ability of postural balance is needed,and it also requires the accurate movement control of lower limb joints.Thus,this paper proposes to firstly design joint movement control system by combining combined iterative learning control(ILC)algorithms and musculoskeletal model,based on neuromuscular electrical stimulation(NMES),expecting to realize accurate joint movement control.Then this paper investigates the rules of human postural balance and the working mechanisms of lower limb joints.This paper aims to provide theoretical basis for the design of motor function rehabilitation system with postural balance ability for patients with lower limb paralysis.The main works of this paper are outlined as follows:1)Design NMES joint movement control system based on the ILC control law and conduct a series of simulations based on the virtual controlled objective,to investigate the feasibility of ILC-based NMES control in joint movement control.Considering that traditional ILC law is faced with the problem that control effect is not good enough in NMES control system,this paper introduces musculoskeletal model into traditional ILC algorithm to design model-based ILC stimulation algorithms.Finally,simulations are conducted to validate the control effect of the proposed control strategy.2)Based on the strategy mentioned above,this paper builds up human experimental platform for NMES joint movement control.Before conducting knee joint movement control experiments,related parameters of musculoskeletal system are identified.The human experiments validate that the proposed strategy has good performance in human joint movement control.The study of this paper provides solid foundations for further research on NMES-based multi-joint coordinated movement control.3)This paper takes standing postural balance as an example to conduct research on human postural balance mechanisms.This paper evaluates the changing rules of muscle contraction and joint dynamics by conducting experiments with different experimental conditions.In the end,the working mechanisms of lower limb joints during human postural balance are analyzed.The study of this paper is very meaningful to the design of lower limb motor function rehabilitation system with postural balance ability.