中医推拿一指禅手法垂直作用力均匀性的量化研究

目的对中医推拿一指禅手法垂直作用力的均匀性进行量化研究,寻找能有效描述一指禅手法作用力均匀性的定量指标及其参考值。方法对手法作用力均匀性进行数学描述,实测5位专家、5位熟练者和5位初学者的一指禅垂直作用力信号,并对信号进行分析。结果得到了一指禅手法作用力的周期均匀性和波形均匀性,其中各组间的周期均匀性无显著差异,而初学组与专家组或熟练组间的波形均匀性有显著差异。结论波形均匀性更适合作为评价一指禅手法垂直作用力均匀性的指标,可取0.927作为参考值,以评价操作者手法垂直作用力均匀性的优劣。     

基于小波变换的中医推拿法作用力信号能量分析

目的分析中医推拿法作用力各频率段的能量分布,揭示法的动力学特点。方法测量6位推拿专家及6位初学者的法推拿作用力信号,利用小波变换进行频带划分,计算各频率段的能量并进行统计分析。对垂直作用力和水平作用力构造18个特征量,提出了总体评价系数R。结果专家的法推拿作用力信号在0～0.406 25 Hz的低频段集中了近70%的能量,另有约20%的能量集中在1.625～3.25 Hz频率段。6位推拿专家总体评价系数R均大于0.70,6位初学者的总体评价系数R均小于0.70,两者具有较显著的差异。结论 法作用力各频率段的能量分布体现了法"柔和"性及周期性特点。当测试者法推拿技术动作规范且总体评价系数R大于0.70时,可认为已较好地掌握了法推拿技术。     

基于小波变换的中医推拿扌衮法作用力信号能量分析

目的 分析中医推拿法作用力各频率段的能量分布,揭示扌衮法的动力学特点。方法 测量6位推拿专家及6位初学者的扌衮法推拿作用力信号,利用小波变换进行频带划分,计算各频率段的能量并进行统计分析。对垂直作用力和水平作用力构造18个特征量,提出了总体评价系数R。结果 专家的扌衮法推拿作用力信号在0~0.406 25 Hz的低频段集中了近70%的能量,另有约20%的能量集中在1.625~3.25 Hz频率段。6位推拿专家总体评价系数R均大于0.70,6位初学者的总体评价系数R均小于0.70,两者具有较显著的差异。结论 扌衮法作用力各频率段的能量分布体现了法“柔和”性及周期性特点。当测试者扌衮法推拿技术动作规范且总体评价系数R大于0.70时,可认为已较好地掌握了扌衮法推拿技术。     

摆动类法推拿作用力时域分析

依据中医推拿手法测力分析仪FZ-1型上所得(扌衮)法推拿作用力数据,对(扌衮)法作用力进行了时域分析。对垂直分力,得出了反映手法正确性的定量指标峰值离散度J_0,峰值时间F_0和总体均匀性R_0,对于教师-学生组和医生-学生组均有显著性差异(P<0.01)。同时对水平分力进行了定性分析。     

摆动类法推拿作用力时域分析

依据中医推拿手法测力分析仪FZ-1型上所得(扌衮)法推拿作用力数据,对(扌衮)法作用力进行了时域分析。对垂直分力,得出了反映手法正确性的定量指标峰值离散度J_0,峰值时间F_0和总体均匀性R_0,对于教师-学生组和医生-学生组均有显著性差异(P<0.01)。同时对水平分力进行了定性分析。     

脉动流模拟系统血压波形相似度算法研究

目的研究表征血压波形间相似程度的量化指标,并应用到脉动流模拟系统中血压波形的分析。方法在对已有相似度算法进行研究的基础上,结合血压波形自身的特点,提出加权平均算法。该算法将相关系数法和特征参数法相结合,分别从整体和局部特征对波形进行相似性度量,兼具全局匹配和局部比较的优点。结果与夹角余弦法、平均绝对差法和数值型相似系数法相比,加权平均算法更适用于血压波形相似度的分析。结论加权平均算法可以表征不同血压波形之间的差异,比较不同脉动流装置之间的模拟性能,进一步完善后还可以用于其他生理波形的分析。     

中医屈指推法的生物力学建模及分析

背景：推拿医学发展趋势是逐步摆脱单纯经验化的模式,走向客观化、精确化、量化和个体化,使推拿医师能控制手法的力量、时间、方向、频率等各项指标。 目的：建立中医一指禅推法(屈指)的生物力学模型,探索在体情况下无0法无创检测的关节作用力的计算方法。 方法：采用摄像技术,采集一指禅推法(屈指)的运动学数据,同时利用FZ-I型中医推拿手法测力分析仪采集作用力数据,依此建立手法的生物力学模型并计算各主要关节的作用力。 结果与结论：建立了4杆件、5结点的中医一指禅推法(屈指)生物力学模型,计算得到了拇指指间关节、拇指掌指关节、腕关节和肘关节的作用力,分析了各关节在手法运动中的作用,与操作医师的实际感受一致。提示由中医一指禅推法(屈指)的生物力学模型可计算推拿过程中各关节的作用力,可为手法教学和研究提供一定的帮助。     

面向推拿康复机器人的人机交互界面数字建模与动力学研究

目的 采集、分析专业医师推拿手法的运动学、动力学特征,并基于仿人手设计的多功能推拿头,开发一种适用于多种按摩手法、学习专业医师推拿力度曲线的力度柔顺控制算法,以期提供一种实现推拿机器人运动学、动力学复现的方法。方法 首先基于传统中医按摩理论,对滚法、揉法、振法进行运动学以及动力学分析,将其动作特征进行抽取解耦,形成多维度的运动学和动力学模式化表达。其次通过推拿手法测定仪以及动作捕捉系统,对专业医师推拿手法动作进行运动学、动力学数据采集。最后基于一款仿人手设计的多功能按摩头,以专业医师推拿手法信息为示教,对推拿手法的空间轨迹、力度曲线进行学习并开发力度柔顺控制算法。结果 推拿头和专业医师的滚法力度最大值分别为52.18 N、55.10 N,最小值分别为29.71 N、6.23 N,推拿头推拿过程中力度曲线的波形与专业医师比较接近。推拿头执行揉法力度的平均值、最大值以及最小值相对于专业医师的误差分别为-0.51%、3.58%和-3.56%,推拿头和专业医师推拿力度的标准差、偏度与峭度均十分接近。推拿头和专业医师的振法最大值分别为21.82 N、21.54 N,频率分别为3.67 Hz、14...     

法推拿形成运动狭窄血管内血液流量分析

目的 研究中医(扌衮)法推拿活血化淤,促进血液循环的血液动力学机制。方法 研究中医(扌衮)法推拿形成的运动狭窄血管内的血液动力学。通过数值求解线化的Navier-Stokes方程,讨论不同的作用力水平渗透系数、不同的最大狭窄度以及不同的手法频率对血液流量影响。结果 较大的水平渗透系数、较快的手法频率和较小的最大狭窄度将使得血液流量的增加。结论 (扌衮)法推拿增大动脉血流量是多种因素共同作用的结果,这与正确的(扌衮)法推拿手法可以促进血液循环相吻合。     

中医推拿手法测力分析仪FZ－Ⅰ型的研制及法合力作用点轨迹分析

本文报导了中医推拿手法测力分析仪ＦＺ－Ⅰ型的研制，实测了摆动类法在测力仪上的作用力，分析了合力作用点的几何轨迹。结果表明摆动类法合力作用点几何轨迹形态可分成四类，并对产生不同形态的原因进行了分析并提出了定量判别指标。     

Evidence for the involvement of the posterior parietal cortex in coordination of fingertip forces for grasp stability in manipulation

Grasp stability during object manipulation is achieved by the grip forces applied normal to the grasped surfaces increasing and decreasing in phase with increases and decreases of destabilizing load forces applied tangential to the grasped surfaces. This force coordination requires that the CNS anticipates the grip forces that match the requirements imposed by the self-generated load forces. Here, we use functional MRI (fMRI) to study neural correlates of the grip-load force coordination in a grip-load force task in which six healthy humans attempted to lift an immovable test object held between the tips of the right index finger and thumb. The recorded brain activity was compared with the brain activity obtained in two control tasks in which the same pair of digits generated forces with similar time courses and magnitudes; i.e., a grip force task where the subjects only pinched the object and did not apply load forces, and a load force task, in which the subjects applied vertical forces to the object without generating grip forces. Thus neither the load force task nor the grip force task involved coordinated grip-load forces, but together they involved the same grip force and load force output. We found that the grip-load force task was specifically associated with activation of a section of the right intraparietal cortex, which is the first evidence for involvement of the posterior parietal cortex in the sensorimotor control of coordinated grip and load forces in manipulation. We suggest that this area might represents a node in the network of cortical and subcortical regions that implement anticipatory control of fingertip forces for grasp stability.     

Reconstruction of action potential of repolarization in patients with congenital long-QT syndrome

A method for reconstructing an action potential during the repolarization period was developed. This method uses a current distribution-plotted as a current-arrow map (CAM)--calculated using magnetocardiogram (MCG) signals. The current arrows are summarized during the QRS complex period and subtracted during the ST-T wave period in order to reconstruct the action-potential waveform. To ensure the similarity between a real action potential and the reconstructed action potential using CAM, a monophasic action potential (MAP) and an MCG of the same patient with type-I long-QT syndrome were measured. Although the MAP had one notch that was associated with early afterdepolarization (EAD), the reconstructed action potential had two large and small notches. The small notch timing agreed with the occurrence of the EAD in the MAP. On the other hand, the initiation time of an abnormal current distribution coincides with the appearance timing of the first large notch, and its end time coincides with that of the second small notch. These results suggest that a simple reconstruction method using a CAM based on MCG data can provide a similar action-potential waveform to a MAP waveform without having to introduce a catheter.     

一指禅推法不同作用力下上肢肌群运动方式及肌电信号

目的观察不同手法力量下一指禅推法上肢肌电信号特征,找出手法操作关键技术上肢肌群协同运动方式。方法采集专家组、熟练组和初学组手法肌电信号数据。每位测试者按手法力量分轻、中、重3种类型操作,选择连续稳定的数据采用MyoResearch软件进行分析。结果上肢各测试肌群肌电积分(iEMG)比较有显著差异(P<0.05);不同手法力量肌群iEMG比值比较,专家组和熟练组无显著差异(P>0.05),比值前3位为尺侧腕屈肌群、三角肌、桡侧伸肌群;手法核心主动肌群参与运动方式基本一致。初学组在不同手法力量下iEMG比值前3位肌肉群各不相同,差异较明显。专家组、熟练组和初学组之间协同收缩率比较差异均显著(P<0.01),初学组协同收缩率最大,专家组协同收缩率最小,且协同收缩率随手法力量增加逐渐下降。6 min操作三角肌肉中位频率斜率比较,专家组测试者耐疲劳度较好。结论专家组和熟练组手法肌电信号有共同特征,存在手法操作的核心肌群。上肢核心肌群运动方式具有规律性,并且iEMG比值、中位频率斜率、协同收缩率等指标可作为评价手法持久性、均匀性,以及施力方式是否规范的参考标准。     

基于ARM7的新型开放式多功能医用信号仪的研制

目的现有的常用信号发生器或生理信号发生器不能同时输出常用信号和模拟生理信号,本文提出一种新型开放式多功能医用信号仪,用于检测各种生理信号,听取不同频率、不同信号的声音及输出常用信号等。方法该仪器以STM32F103RF和高性能集成芯片MAX038为核心。此医用信号仪包括硬件和软件两部分,其中硬件含有ARM7单片机控制单元、按钮组输入单元、数据存储单元等12个单元,软件用C语言编写,并采用keil C进行编译。结果该仪器不仅能输出常用的正弦、方波、三角波、锯齿、矩形信号,还能输出医学中常用的多种生理信号如心电、脉搏波等,且信号波形频率、幅度、类型、波形均采用直观的LCD液晶显示。此外,该仪器具有一个高驱动能力的接口,可直接驱动耳机等,以方便对人耳频率特性和人体阻抗特性的研究和教学。同时,为了便于使用一般示波器能观察各种生理信号,对同一种生理信号可输出不同的频率。结论本仪器使用方便,可广泛应用于科研、教学、测试和仪器维修等。     

Control of fingertip forces in multidigit manipulation

Previous studies of control of fingertip forces in skilled manipulation have focused on tasks involving two digits, typically the thumb and index finger. Here we examine control of fingertip actions in a multidigit task in which subjects lifted an object using unimanual and bimanual grasps engaging the tips of the thumb and two fingers. The grasps resembled those used when lifting a cylindrical object from above; the two fingers were some 4.25 cm apart and the thumb was approximately 5.54 cm from either finger. The three-dimensional forces and torques applied by each digit and the digit contact positions were measured along with the position and orientation of the object. The vertical forces applied tangential to the grasp surfaces to lift the object were synchronized across the digits, and the contribution by each digit to the total vertical force reflected intrinsic object properties (geometric relationship between the object's center of mass and the grasped surfaces). Subjects often applied small torques tangential to the grasped surfaces even though the object could have been lifted without such torques. The normal forces generated by each digit increased in parallel with the local tangential load (force and torque), providing an adequate safety margin against slips at each digit. In the present task, the orientations of the force vectors applied by the separate digits were not fully constrained and therefore the motor controller had to choose from a number of possible solutions. Our findings suggest that subjects attempt to minimize (or at least reduce) fingertip forces while at the same time ensure that grasp stability is preserved. Subjects also avoid horizontal tangential forces, even at a small cost in total force. Moreover, there were subtle actions exerted by the digits that included changes in the distribution of vertical forces across digits and slight object tilt. It is not clear to what extent the brain explicitly controlled these actions, but they could serve, for instance, to keep tangential torques small and to compensate for variations in digit contact positions. In conclusion, we have shown that when lifting an object with a three-digit grip, the coordination of fingertip forces, in many respects, matches what has been documented previously for two-digit grasping. At the same time, our study reveals novel aspects of force control that emerge only in multidigit manipulative tasks.     

Internal forces during object manipulation

Internal force is a set of contact forces that does not disturb object equilibrium. The elements of the internal force vector cancel each other and, hence, do not contribute to the resultant (manipulation) force acting on the object. The mathematical independence of the internal and manipulation forces allows for their independent (decoupled) control realized in robotic manipulators. To examine whether in humans internal force is coupled with the manipulation force and what grasping strategy the performers utilize, the subjects (n=6) were instructed to make cyclic arm movements with a customized handle. Six combinations of handle orientation and movement direction were tested. These involved: parallel manipulations (1) VV task (vertical orientation and vertical movement) and (2) HH task (horizontal orientation and horizontal movement); orthogonal manipulations (3) VH task (vertical orientation and horizontal movement) and (4) HV task (horizontal orientation and vertical movement); and diagonal manipulations (5) DV task (diagonal orientation and vertical movement) and (6) DH task (diagonal orientation and horizontal movement). Handle weight (from 3.8 to 13.8 N), and movement frequency (from 1 to 3 Hz) were systematically changed. The analysis was performed at the thumb-virtual finger level (VF, an imaginary finger that produces a wrench equal to the sum of wrenches produced by all the fingers). At this level, the forces of interest could be reduced to the internal force and internal moment. During the parallel manipulations, the internal (grip) force was coupled with the manipulation force (producing object acceleration) and the thumb-VF forces increased or decreased in phase: the thumb and VF worked in synchrony to grasp the object more strongly or more weakly. During the orthogonal manipulations, the thumb-VF forces changed out of phase: the plots of the internal force vs. object acceleration resembled an inverted letter V. The HV task was the only task where the relative phase (coupling) between the normal forces of the thumb and VF depended on oscillation frequency. During the diagonal manipulations, the coupling was different in the DV and DH tasks. A novel observation of substantial internal moments is described: the moments produced by the normal finger forces were counterbalanced by the moments produced by the tangential forces such that the resultant moments were close to zero. Implications of the findings for the notion of grasping synergies are discussed.