Locomotor-related networks in the lumbosacral enlargement of the adult spinal cat: activation through intraspinal microstimulation.

It is commonly accepted that locomotor-related neuronal circuitry resides in the lumbosacral spinal cord. Pharmacological agents, epidural electrical stimulation, and sensory stimulation can be used to activate these instrinsic networks in in vitro neonatal rat and in vivo cat preparations. In this study, we investigated the use of low-level tonic intraspinal microstimulation (ISMS) as a means of activating spinal locomotor networks in adult cats with complete spinal transections. Trains of low-amplitude electrical pulses were delivered to the spinal cord via groups of fine microwires implanted in the ventral horns of the lumbosacral enlargement. In contrast to published reports, tonic ISMS applied through microwires in the caudal regions of the lumbosacral enlargement (L7-S1) was more effective in eliciting alternating movements in the hindlimbs than stimulation in the rostral regions. Possible mechanisms of action of tonic ISMS include depolarization of locally oscillating networks in the lumbosacral cord, backfiring of primary afferents, or activation of propriospinal neurons.     

Arrays for chronic functional microstimulation of the lumbosacral spinal cord

Our objective is to develop neural prostheses based on an array of microelectrodes implanted into the sacral spinal cord, that will allow persons with spinal cord injuries to regain control of their bladder and bowels. For our chronic cat model, we have developed two microelectrode arrays, one type containing nine discrete activated iridium microelectrodes and the second utilizing silicon substrate probes with multiple electrode sites on each probe. Both types can elicit an increase in the pressure within the urinary bladder of more than 40-mm Hg and/or relaxation of the urethral sphincter. A stimulus of 100 microA and 400 micros/ph at 20 Hz (charge-balanced pulses) was required to induce a large increase in bladder pressure or relaxation of the urethral sphincter. We found that 24 h of continuous stimulation with these parameters induced tissue injury (disrupted neuropil, infiltration of inflammatory cells, and loss of neurons close to the tip sites). However, a neural prosthesis that is intended to restore bladder control after spinal cord injury would not operate continuously. Thus, when this stimulus was applied for 24 h, at a 10% duty cycle (1 min of stimulation, then 9 min without stimulation) only minimal histologic changes were observed.     

Adaptive neural network control of cyclic movements using functional neuromuscular stimulation.

In this study, we evaluated the performance of an adaptive feedforward controller and its ability to automatically develop and customize stimulation patterns for use in functional neuromuscular stimulation (FNS) systems. Results from previous experiments using the pattern generator/pattern shaper (PG/PS) controller to generate isometric contractions demonstrated its ability to adjust stimulation patterns to account for recruitment nonlinearities and muscle dynamics. In this study, the PG/PS controller was tested under isotonic conditions. This evaluation required the PG/PS controller to account for muscle length-tension and force-velocity properties as well as limb dynamics. The performance of the adaptive controller was also compared with that of a proportional-derivative (PD) feedback controller. The PG/PS controller is composed of a neural network system that adaptively filters a periodic signal to produce a muscle stimulation pattern for generating cyclic movements. We used computer-simulated models to determine controller parameters for the PG/PS and PD controller that perform well across a variety of musculoskeletal systems. The controllers were then experimentally evaluated on both legs of two subjects with spinal cord injury. Results indicated that the PG/PS controller was able to achieve and maintain better tracking performance than the PD controller. This study indicates that the PG/PS control system may provide an effective mechanism for automatically customizing stimulation patterns for individuals using FNS systems.     

Tremor suppression using functional electrical stimulation: a comparison between digital and analog controllers.

In this study, we compared digital and analog versions of a functional electrical stimulator designed to suppress tremor. The device was based on a closed-loop control system designed to attenuate movements in the tremor frequency range, without significantly affecting slower, voluntary movements. Testing of the digital filter was done on three patients with Parkinsonian tremor and the results compared to those of a functional electrical stimulation device based on an analog filter evaluated in a previous study. Additional testing of both the analog and digital filters was done on three subjects with no neurological impairment performing tremor-like movements and slow voluntary movements. We found that the digital controller provided a mean attenuation of 84%, compared to 65% for the analog controller.     

Cycling by means of functional electrical stimulation.

The goal of this paper was the development of an optimized stimulation pattern of leg muscles that would allow paraplegic subjects to perform the movement of pedaling and thereby to drive a tricycle by means of functional electrical stimulation (FES). To obtain maximum average power output with minimum muscle force, the start, duration and amplitude of the stimulation signal applied to the individual muscles had to be optimized depending on the pedaling frequency. For the basic theoretical investigations the rider-tricycle system was modeled as a rigid body system on which the muscle forces are applied as joint moments. The muscles gluteus maximus, rectus femoris, vastii, and hamstrings were stimulated and the passive forces of some other muscles were considered. The modeling and simulation approach was then used to produce maximum power pedaling and steady-state pedaling at 35 rpm. Hamstrings (41.9%) and vastii (35.8%) were the primary contributors to the optimization cost function of maximum power with minimum muscle loading. Based on these theoretical investigations an efficient stimulation pattern could be provided, taking into account the realistic possibilities of today's practical applications.     

A model for human skin impedance during surface functional neuromuscular stimulation.

A new mathematical model for the bulk electrical impedance of human skin is presented. In particular this model describes the impedance of skin during surface functional neuromuscular stimulation (FNS) with square stimulation pulses. Experimental data are presented that illustrate the nonlinear dynamic properties of human skin during current and voltage controlled stimulation. Model predictions are compared to experimental data, measured under both constant voltage and constant current transcutaneous stimulation. It is found that this model captures a variety of nonlinear time-varying effects observed in the skin impedance when stimulating with either protocol. This model may be used as part of large neuromusculoskeletal models or in the more accurate modeling of transcutaneous FNS, which is currently the most common clinical implementation of FNS.     

Development of a circuit for functional electrical stimulation

This paper examines the various design of a multiple-purpose portable functional electrical stimulator which is used in surface stimulation of paralyzed muscle of patients with stroke and results in limb activation. The functionality, circuit performance and reliability of the circuits will be examined. Analysis, design, and experimental results are presented.     

Chronic intracortical microstimulation (ICMS) of cat sensory cortex using the Utah Intracortical Electrode Array.

In an effort to assess the safety and efficacy of focal intracortical microstimulation (ICMS) of cerebral cortex with an array of penetrating electrodes as might be applied to a neuroprosthetic device to aid the deaf or blind, we have chronically implanted three trained cats in primary auditory cortex with the 100-electrode Utah Intracortical Electrode Array (UIEA). Eleven of the 100 electrodes were hard-wired to a percutaneous connector for chronic access. Prior to implant, cats were trained to "lever-press" in response to pure tone auditory stimulation. After implant, this behavior was transferred to "lever-presses" in response to current injections via single electrodes of the implanted arrays. Psychometric function curves relating injected charge level to the probability of response were obtained for stimulation of 22 separate electrodes in the three implanted cats. The average threshold charge/phase required for electrical stimulus detection in each cat was, 8.5, 8.6, and 11.6 nC/phase respectively, with a maximum charge/phase of 26 nC/phase and a minimum of 1.5 nC/phase thresholds were tracked for varying time intervals, and seven electrodes from two cats were tracked for up to 100 days. Electrodes were stimulated for no more than a few minutes each day. Neural recordings taken from the same electrodes before and after multiple electrical stimulation sessions were very similar in signal/noise ratio and in the number of recordable units, suggesting that the range of electrical stimulation levels used did not damage neurons in the vicinity of the electrodes. Although a few early implants failed, we conclude that ICMS of cerebral cortex to evoke a behavioral response can be achieved with the penetrating UIEA. Further experiments in support of a sensory cortical prosthesis based on ICMS are warranted.     

The use of selective electrical stimulation of the quadriceps to improve standing function in paraplegia.

Persons with spinal cord injury (SCI) can benefit significantly from functional neuromuscular stimulation (FNS) systems for standing if manual tasks can be performed while upright. Using FNS to sufficiently activate the knee extensors to rise from a sitting position often results in inadvertent activation of the rectus femoris and/or sartorius, which flex the hip. In this study, intramuscular electrodes implanted in the vastus lateralis and medialis of four subjects with SCI were used to activate these muscles individually and simultaneously to measure knee extension moment. Support forces applied to the arms and feet were measured while upright to quantify the effects of recruiting rectus femoris and/or sartorius. In three of the four subjects, vastus lateralis, by itself, generated adequate knee extension moment for rising from a chair and to maintain static standing. Simultaneous activation of the vastus lateralis and medialis using a bifurcated electrode generated adequate knee extension moment in one subject, and was within 10% of the required moment in another. While upright, activation of the rectus femoris resulted in arm support force increases of 4-11% body weight, while deactivation resulted in arm support force decreases of 6-9% body weight. The results indicate that selective activation of the vastus lateralis, individually or in combination with vastus medialis, can improve current FNS standing systems by reducing the arm support forces required to remain upright.     

Implanted functional electrical stimulation system for mobility in paraplegia: a follow-up case report.

A 16-channel functional electrical stimulation (FES) system has been implanted in a person with T10 paraplegia for over a year. The system consists of two eight-channel radio frequency controlled receiver-stimulators delivering stimuli through a network of 14 epimysial and two intramuscular electrodes. Using this system and a walker for support, the subject was able to stand up for 8 min and walk regularly for 20 m. The standing duration was limited by arm fatigue since upper extremities supported an average of 25% of body weight. This was due to suboptimal hip extension and some undesired recruitment of rectus femoris and sartorius with stimulation of quadriceps electrodes. The left quadriceps exhibited rapid fatigue that limited walking distance and duration. The metabolic energy requirements were well within the aerobic limits of the sedentary paraplegic population. At one-year follow-up evaluation all electrodes are functional except one intramuscular electrode. The implant caused no adverse physiological effects and the individual reported health benefits such as increased energy and overall fitness as a result of the FES system use. With further improvements in muscle response through innovative surgical techniques, the 16-channel implanted FES system can be a viable addition to exercise and mobility function in persons with paraplegia.     

Optimal arrangement of magnetic coils for functional magnetic stimulation of the inspiratory muscles in dogs.

In an attempt to maximize inspiratory pressure and volume, the optimal position of a single or of dual magnetic coils during functional magnetic stimulation (FMS) of the inspiratory muscles was evaluated in twenty-three dogs. Unilateral phrenic magnetic stimulation (UPMS) or bilateral phrenic magnetic stimulation (BPMS), posterior cervical magnetic stimulation (PCMS), anterior cervical magnetic stimulation (ACMS) as well as a combination of PCMS and ACMS were performed. Trans-diaphragmatic pressure (Pdi), flow, and lung volume changes with an open airway were measured. Transdiaphragmatic pressure was also measured with an occluded airway. Changes in inspiratory parameters during FMS were compared with 1) electrical stimulation of surgically exposed bilateral phrenic nerves (BPES) and 2) ventral root electrical stimulation at C5-C7 (VRES C5-C7). Relative to the Pdi generated by BPES of 36.3 +/- 4.5 cm H2O (Mean +/- SEM), occluded Pdi(s) produced by UPMS, BPMS, PCMS, ACMS, and a combined PCMS + ACMS were 51.7%, 61.5%, 22.4%, 100.3%, and 104.5% of the maximal Pdi, respectively. Pdi(s) produced by UPMS, BPMS, PCMS, ACMS, and combined ACMS + PCMS were 38.0%, 45.2%, 16.5%, 73.8%, and 76.8%, respectively, of the Pdi induced by VRES (C5-C7) (48.0 +/- 3.9 cm H2O). The maximal Pdi(s) generated during ACMS and combined PCMS + ACMS were higher than the maximal Pdi(s) generated during UPMS, BPMS, or PCMS (p < 0.05). ACMS alone induced 129.8% of the inspiratory flow (73.0 +/- 9.4 L/ min) and 77.5% of the volume (626 +/- 556 ml) induced by BPES. ACMS and combined PCMS + ACMS produce a greater inspiratory pressure than UPMS, BPMS or PCMS. ACMS can be used to generate sufficient inspiratory pressure, flow, and volume for activation of the inspiratory muscles.     

基于最小最大核K均值聚类算法的水电机组 振动故障诊断

基于聚类分析的故障诊断方法能够按照故障样本之间的相似性无监督地将同类故障聚为一簇,当前已成为一类有效的故障诊断策略。为解决传统聚类算法受初始聚类中心的影响,易陷入局部最优解的问题,提出一种最小最大核K均值聚类方法。该方法在聚类过程中为簇内方差赋以与其大小成正比的自动修正的权重,并引入核函数技术以处理低维输入空间的线性不可分问题,大大提高了聚类的精确性。在标准数据上将所提方法与标准K-means及K-means++比较,显示了所提算法的有效性和优越性。基于这一聚类方法提出了一种具有自学习能力的故障诊断模型。     

基于最小最大核K均值聚类算法的水电机组振动故障诊断

基于聚类分析的故障诊断方法能够按照故障样本之间的相似性无监督地将同类故障聚为一簇,当前已成为一类有效的故障诊断策略。为解决传统聚类算法受初始聚类中心的影响,易陷入局部最优解的问题,提出一种最小最大核K均值聚类方法。该方法在聚类过程中为簇内方差赋以与其大小成正比的自动修正的权重,并引入核函数技术以处理低维输入空间的线性不可分问题,大大提高了聚类的精确性。在标准数据上将所提方法与标准K-means及K-means++比较,显示了所提算法的有效性和优越性。基于这一聚类方法提出了一种具有自学习能力的故障诊断模型。将该诊断模型应用于水电机组振动故障诊断,实例验证了模型的可行性。     

Optimal control of walking with functional electrical stimulation: a computer simulation study.

Bipedal locomotion was simulated to generate a pattern of activating muscles for walking using electrical stimulation in persons with spinal cord injury (SCI) or stroke. The simulation presented in this study starts from a model of the body determined with user-specific parameters, individualized with respect to the lengths, masses, inertia, muscle and joint properties. The trajectory used for simulation was recorded from an able-bodied subject while walking with ankle-foot orthoses. A discrete mathematical model and dynamic programming were used to determine the optimal control. A cost function was selected as the sum of the squares of the tracking errors from the desired trajectories, and the weighted sum of the squares of agonist and antagonist activations of the muscle groups acting around the hip and knee joints. The aim of the simulation was to study plausible trajectories keeping in mind the limitations imposed by the spinal cord injury or stroke (e.g., spasticity, decreased range of movements in some joints, limited strength of paralyzed, externally activated muscles). If the muscles were capable of generating the movements required and the trajectory was achieved, then the simulation provided two kinds of information: 1) timing of the onset and offset of muscle activations with respect to the various gait events and 2) patterns of activation with respect to the maximum activation. These results are important for synthesizing a rule-based controller.     

The effect of random modulation of functional electrical stimulation parameters on muscle fatigue.

Muscle contractions induced by functional electrical stimulation (FES) tend to result in rapid muscle fatigue, which greatly limits activities such as FES-assisted standing and walking. It was hypothesized that muscle fatigue caused by FES could be reduced by randomly modulating parameters of the electrical stimulus. Seven paraplegic subjects participated in this study. While subjects were seated, FES was applied to quadriceps and tibialis anterior muscles bilaterally using surface electrodes. The isometric force was measured, and the time for the force to drop by 3 dB (fatigue time) and the normalized force-time integral (FTI) were determined. Four different modes of FES were applied in random order: constant stimulation, randomized frequency (mean 40 Hz), randomized current amplitude, and randomized pulsewidth (mean 250 micros). In randomized trials, stimulation parameters were stochastically modulated every 100 ms in a range of +/-15% using a uniform probability distribution. There was no significant difference between the fatigue time measurements for the four modes of stimulation. There was also no significant difference in the FTI measurements. Therefore, our particular method of stochastic modulation of the stimulation parameters, which involved moderate (15%) variations updated every 100 ms and centered around 40 Hz, appeared to have no effect on muscle fatigue. There was a strong correlation between maximum force measurements and stimulation order, which was not apparent in the fatigue time or FTI measurements. It was concluded that a 10-min rest period between stimulation trials was insufficient to allow full recovery of muscle strength.     

A comparative study on generating training-data for self-paced brain interfaces.

Direct brain interface (BI) systems provide an alternative communication and control solution for individuals with severe motor disabilities, bypassing impaired interface pathways. Most BI systems are aimed to be operated by individuals with severe disabilities. With these individuals, there is no observable indicator of their intent to control or communicate with the BI system. In contrast, able-bodied subjects can perform the desired physical movements such as finger flexion and one can observe the movement as the indicator of intent. Since no external knowledge of intention is available for individuals with severe motor disabilities, generating the data for system training is problematic. This paper introduces three methods for generating training-data for self-paced BI systems and compares their performances with four alternative methods of training-data generation. Results of the offline analysis on the electroencephalogram data of eight subjects during self-paced BI experiments show that two of the proposed methods increase true positive rates (at fixed false positive rate of 2%) over that of the four alternative methods from 50.8%-58.4% to about 62% which corresponds to 3.6%-11.2% improvement.     

Dynamic modeling and torque estimation of FES-assisted arm-free standing for paraplegics.

This paper presents an application of recent findings in the field of redundant robotic systems' control, toward investigating the feasibility of functional electrical stimulation (FES) assisted arm-free standing for paraplegics. Twelve degrees-of-freedom (DOF) forward and inverse dynamic models of quiet standing have been developed. These models were used to investigate the minimum number of DOF that would need to be actuated in order to generate stable quiet standing in paraplegics despite internal and external disturbances. The results presented herein suggest that the proposed nonlinear dynamic model could achieve guaranteed asymptotic stability with only six active DOF, assuming that the remaining six DOF are passive, i.e., there is no active or passive torques applied to those DOF. The stability analyses were performed using a proportional and derivative (PD) controller coupled with gravity compensation. The results of this analysis suggest that if only six particular DOF are actively controlled in a paraplegic subject, this individual should be able to achieve stable quiet standing despite disturbances. This result has both clinical and system-design implications for the development of a device that will facilitate FES-assisted arm-free quiet standing. The clinical implication is, if a paraplegic patient can exert voluntary control over specified six DOF in the lower limbs, that patient, after intensive physiotherapy, will have the potential to perform quiet standing unassisted. The system-design implication is that FES-assisted arm-free standing for paraplegics is theoretically plausible if one would actively control only six out of 12 DOF in the lower limbs. The proposed solution does not require the locking of joints in the lower limbs (commonly applied in the field) or voluntary control of the upper body to compensate for the internal and external disturbances. Another important finding of this study is the existence of six different combinations of six active DOF able to facilitate stable quiet standing. This dynamic redundancy of the biological bipedal stance allows the selection of an ideal subset of six DOF in designing a neuroprosthesis for standing. This further implies that a considerably less complex FES system than previously anticipated needs to be developed for FES-assisted standing.     

Simulation of a functional neuromuscular stimulation powered mechanical gait orthosis with coordinated joint locking.

The purpose of this study was to examine a hybrid orthosis system (HOS) for walking after spinal-cord injury (SCI) that coordinates the mechanical locking and unlocking of knee and ankle joints of a reciprocating gait orthosis (RGO), while propulsive forces are injected and unlocked joints controlled with functional neuromuscular stimulation (FNS). The likely effectiveness of the HOS in terms of forward progression, stability, and posture of paraplegic gait was determined in this simulation study. A three-dimensional computer model of a HOS combining FNS with an RGO incorporating feedback control of muscle activation and joint locking was developed. An anthropomorphic human model included passive joint moments and a foot-ground contact model adapted from other studies. A model of the RGO reciprocally coupled the hips and locked and unlocked the knee and ankle joints during stance and swing respectively. The actions of muscles under FNS activation were modeled via closed-loop control of joint torque inputs. A walking aid that mimicked canes and voluntary upper extremity actions maintained lateral stability by providing the necessary shoulder forces and moments. The simulated HOS achieved gait speeds of 0.51 +/- 0.03 m/s, stride lengths of 0.85 +/- 0.04 m, and cadences of 72 +/- 4 steps/min, exceeding the reported performance of other assistive gait systems. Although minimal forward trunk tilt was found to be necessary during specific phases of gait, posture, and stability were significantly improved over FNS-only systems.     

Strategies for improving neural signal detection using a neural-electronic interface

There have been various theoretical and experimental studies presented in the literature that focus on interfacing neurons with discrete electronic devices, such as transistors. From both a theoretical and experimental perspective, these studies have emphasized the variability in the characteristics of the detected action potential from the nerve cell. The demonstrated lack of reproducible fidelity of the nerve cell action potential at the device junction would make it impractical to implement these devices in any neural prosthetic application where reliable detection of the action potential was a prerequisite. In this study, the effects of several different physical parameters on the fidelity of the detected action potential at the device junction are investigated and discussed. The impact of variations in the extracellular resistivity, which directly affects the junction seal resistance, is studied along with the impact of variable nerve cell membrane capacitance and variations in the injected charge. These parameters are discussed in the context of their suitability to design manipulation for the purpose of improving the fidelity of the detected neural action potential. In addition to investigating the effects of variations in these parameters, the applicability of the linear equivalent circuit approach to calculating the junction potential is investigated.     

基于模糊神经网络的光伏发电系统功率控制方法

并网光伏发电系统的故障穿越是大规模新能源接入电网和灵活调控的技术难题,针对传统光伏发电系统在电网故障条件下穿越控制策略的不足,提出一种基于模糊神经网络的光伏发电系统功率控制方法。在电网电压突变和跌落情况下能够快速地调整光伏发电系统的工作模式,以适应光伏阵列最大输出功率和并网逆变器额定容量以及最大输出电流的限制,具有稳定性强、跟踪速度快等优点。给出了控制策略总体架构,详细阐述了电网故障控制器运行模式切换策略,建立了模糊神经网络算法的数学模型和实现流程。最后,在Matlab/Simulink平台下搭建了系统仿真模型,仿真结果验证了所提出控制策略的有效性。