经皮电神经刺激在机器人辅助上肢运动训练中对表面肌电信号的影响

关键词：康复机器人  机器人辅助训练  经皮电神经刺激  表面肌电图  循迹训练

Keywords:rehabilitation robot  robot-assisted training  transcutaneous electrical nerve stimulation  surface electromyogram  trajectory tracking tasks

摘要：

      摘要 目的：通过表面肌电信号sEMG分析，研究经皮电神经刺激TENS对机器人辅助运动训练sEMG变化的规律性，以便于研究其对训练效果的影响。 方法：对4名健康男性进行两轮各20min机器人辅助上肢自主循迹运动训练，并分别在其中一轮运动的过程中结合TENS。实验过程中采集sEMG，并以希尔伯特-黄变换HHT方法得到平均频率MNF进行评定。 结果：持续的TENS对肱二头肌在运动训练过程中的MNF谷值均值的变化率有较明显影响，而有刺激和没有刺激的运动训练中的MNF谷值回归线的截距和斜率的变化率则没有明显规律性。同一刺激模式下，不同肌肉所受的影响并不相同，肱桡肌和肱三头肌上没有明显的规律性。 结论：在机器人辅助上肢自主循迹运动训练的过程中加入TENS对某些上肢肌肉有兴奋作用。但是，持续同一刺激对不同肌肉有不同的刺激效果，因此针对运动训练的不同动作阶段，应对不同的肌肉给予相对应的刺激，而不是单纯地给予持续的刺激。

Abstract:

      Abstract Objective: To investigate the influences of transcutaneous electrical nerve stimulation (TENS) on variation of surface electromyogram (sEMG) during robot-assisted motor training. Method: Four healthy male human enlisted as volunteer for the study were assigned to two group. Each group received two 20min-cycles of robot-assisted upper limb voluntary trajectory tracking motor training and received TENS in one of the cycles respectively. The sEMG of upper limb muscle were recorded and the mean frequency (MNF) of sEMG calculated by Hilbert-Huang Transform (HHT) were evaluated. Result: Sustaining TENS carried significant regularity to variability of the mean of MNF′s trough in biceps brachiimuscle during motor training, yet no significant regularities on intercept and slope of linear regression of MNF′s trough between stimulation cycle and non-stimulation cycle. Under the same stimulation each muscle had different influence, no significant regularities were found in brachioradialis and triceps brachiimuscles. Conclusion: Combination of TENS and robot-assisted upper limb voluntary trajectory tracking motor training provided excitative effect on some upper limb muscles. Yet a sustaining same stimulation might provide diverse effects to different muscle. Therefore, in certain motion period choosing appropriate stimulation model to stimulate certain muscles is recommended, and yet not-sustaining monotone TENS stimulation model.