Abstract：
Objective.In recent years, the robot assisted (RA) rehabilitation training has been widely used to counteract defects of the manual one provided by physiotherapists. However, since the proprioception feedback provided by the robotic assistance or the manual methods is relatively weak for the paralyzed patients, their rehabilitation efficiency is still limited. In this study, a dynamic electrical stimulation (DES) based proprioception enhancement and the associated quantitative analysis methods have been proposed to overcome the limitation mentioned above.Approach.Firstly, the DES based proprioception enhancement method was proposed for the RA neural rehabilitation. In the method, the relationship between the surface electromyogram (sEMG) envelope of the specified muscle and the associated joint angles was constructed, and the electrical stimulation (ES) pulses for the certain joint angles were designed by consideration of the corresponding sEMG envelope, based on which the ES can be dynamically regulated during the rehabilitation training. Secondly, power spectral density, source estimation, and event-related desynchronization of electroencephalogram, were combinedly used to quantitatively analyze the proprioception from multiple perspectives, based on which more comprehensive and reliable analysis results can be obtained. Thirdly, four modes of rehabilitation training tasks, namely active, RA, DES-RA, and ES-only training, were designed for the comparison experiment and validation of the proposed DES based proprioception enhancement method.Main results.The results indicated that the activation of the sensorimotor cortex was significantly enhanced when the DES was added, and the cortex activation for the DES-RA training was similar to that for the active training. Meanwhile, relatively consistent results from the multiple perspectives were obtained, which validates the effectiveness and robustness of the proposed proprioception analysis method.Significance.The proposed methods have the potential to be applied in the practical rehabilitation training to improve the rehabilitation efficiency.
摘要：
目的：近年来，机器人辅助（RA）康复训练已被广泛用于抵消物理治疗师提供的手动训练的缺陷。然而,由于机器人辅助或手动方法提供的本体感觉反馈对于瘫痪患者相对较弱，他们的康复效率仍然有限。在这项研究中,已经提出了基于动态电刺激(DES)的本体感觉增强和相关的定量分析方法来克服上述限制。
方法：首先，提出了基于DES的本体感觉增强方法用于RA神经康复。在该方法中，建立了指定肌肉的表面肌电图（sEMG）包膜与相关关节角度之间的关系，并且通过考虑相应的sEMG包络线来设计某些关节角度的电刺激（ES）脉冲，在此基础上，可以在康复训练过程中动态调节ES。其次,功率谱密度,源估计，与事件相关的脑电图失步，组合用于从多个角度对本体感受进行定量分析，在此基础上，可以获得更全面、更可靠的分析结果。第三，康复训练任务的四种模式，即主动,RA,DES-RA,和ES-only训练，设计了基于DES的本体感受增强方法的对比实验和验证。
结果：结果表明，当添加DES时，感觉运动皮层的激活显着增强，DES-RA训练的皮层激活与主动训练相似。同时,从多个角度获得了相对一致的结果，验证了所提出的本体感受分析方法的有效性和鲁棒性。
结论：所提出的方法有可能应用于实际的康复训练中，以提高康复效率。
方法：首先，提出了基于DES的本体感觉增强方法用于RA神经康复。在该方法中，建立了指定肌肉的表面肌电图（sEMG）包膜与相关关节角度之间的关系，并且通过考虑相应的sEMG包络线来设计某些关节角度的电刺激（ES）脉冲，在此基础上，可以在康复训练过程中动态调节ES。其次,功率谱密度,源估计，与事件相关的脑电图失步，组合用于从多个角度对本体感受进行定量分析，在此基础上，可以获得更全面、更可靠的分析结果。第三，康复训练任务的四种模式，即主动,RA,DES-RA,和ES-only训练，设计了基于DES的本体感受增强方法的对比实验和验证。
结果：结果表明，当添加DES时，感觉运动皮层的激活显着增强，DES-RA训练的皮层激活与主动训练相似。同时,从多个角度获得了相对一致的结果，验证了所提出的本体感受分析方法的有效性和鲁棒性。
结论：所提出的方法有可能应用于实际的康复训练中，以提高康复效率。
