功能性电刺激中应用P型迭代学习控制在上肢多关节运动控制的试验研究

目的 在功能性电刺激（FNS）中，利用P型迭代学习控制方法，研究对健康人上肢肘关节运动角度和腕关节运动角度同时进行运动反馈控制。方法 FNS刺激肱二头肌和前臂屈肌，以预期关节角度为目标，以肘关节和腕关节的角度传感器数值为反馈标准。结果 采用迭代学习控制，算法简单，参数易调整，控制量变化平缓，轨迹跟踪精确度高，在对多关节运动控制中，基本能碹以预期效果，结论 P迭代学习控制方法为FNS在临床上的应用提供了一个新的控制方法。

Applications P-type iterative learning control method on multi-articular movement of upper extremities during functional neuromuscular stimulation

Objective To study the application of P-type iterative learning control(ILC) methodfor movement angles of elbow and wrist joints of upper extremities in normal subjects,as well as perform movement feedback control during functional neuromuscular stimulation(FNS).Methods The biceps brachii and flexors of forearm were stimulated by FNS to obtain the predictive joint angles.The number of angle sensors in elbow and wrist joints was acted as the criterion of feedback.Results Using P-type ILC method,its algorithm was simple,parameter was easily adjusted,change of controllable was gentle and accuracy of track tracing was high.the expectant effects in control of multi-artticular movement of normal people were basically received.Conclusion The study shows that the P-type ILC method can supply a new control method for application of FNS in clinic.