350 rub
Journal Information-measuring and Control Systems №4 for 2013 г.
Article in number:
Biologically adequate principles for control of human arm exoskeleton
Keywords: central nervous system exoskeleton neurorehabi¬litation neuroplasticity synergy
Authors:
A.A. Frolov, E.V. Biryukova, P.D. Bobrov, A.K. Platonov, V.E. Pryanichnikov
Abstract:
This paper describes two principles for motion control by the central nervous system: the first principle refers to the control of the moment of mascular forces in joints by feedback and the second refers to the principles of the formation of motor synergies: coordination of knuckle angles and moments of mascular forces in joints under the motion of multi-joint limbs. We discuss the possibilities of using these principles in the control of human arm exoskeleton.
Pages: 7-18
References
  1. Nudo R.J., Milliken G.W., Jenkins W.M., Merzenich M.M. Use-dependent alterations of movement representations in primary motor cortex of adult squirrel monkeys // Journal of Neuroscience. 1996. V. 16(2). P. 785-807.
  2. Bach-Y-Rita P. Theoretical and practical considerations in the restoration of function after stroke // Top stroke rehabilitation. 2001. V. 8. P. 1-15.
  3. Taub E., Uswatte G., Elbert T. New treatments in neurorehabilitation founded on basic research // Nature Reviews. Neuroscience. 2002. V. 3(3) P. 228-236.
  4. Kwakkel G., Wagenaar R.C., Twisk J.W., Lankhorst G.J., Koetsier J.C. Intensity of leg and arm training after primary middle-cerebral-artery stroke: a randomised trial // Lancet. 1999. V. 354, P. 191-196.
  5. Marchal-Crespo L. & Reinkensmeyer D.J. Review of control strategies for robotic movement training after neurologic injury // Journal of NeuroEngineering and Rehabilitation. 2009. V. 6(20) |// http://www.jneuroengrehab.com/content/6/1/20.
  6. Reinkensmeyer D.J., Kahn L.E., Averbuch M., McKenna-Cole A., Schmit B.D., Rymer W.Z. Understanding and treating arm movement impairment after chronic brain injury: progress with the ARM guide // Journal of Rehabilitation Research and Development. 2000. V. 37(6). P. 653-662.
  7. Lum P.S., Burgar C.G., Shor P.C., Maimundar M., Van der Loos M. Robot-assisted movement training compared with conventional therapy techniques for the rehabilitation of upper-limb motor function after stroke // Archives of Physical Medicine and Rehabilitation. 2002. V. 83 (7)/ P. 952-959.
  8. Hingtgen B., McGuire J.R., Wang M., Harris G.F. An upper extremity kinematic model for evaluation of hemiparetic stroke // Journal of Biomechanics. 2006. V. 39 (4). P. 681-688.
  9. Masiero S., Celia A., Rosati G., Armani M.Robotic-assisted rehabilitation of the upper limb after acute stroke // Archives of Physical Medicine and Rehabilitation. 2007. V. 88(2). P. 142-149.
  10. Amirabdollahian F., Loureiro R., Gradwell E., Collin C., Johnson G., Harwin W. Multivariate analysis of the Fugl-Meyer outcome measures assessing the effectiveness of the GENTLE/S robot mediated stroke therapy // Journal of Neuroengineering and Rehabilitation. 2007. V. 4. P. 4.
  11. Iwamuro B.T., Cruz E.G., Connelly L.L., Fischer H.C., Kamper D.G. Effect of a gravity-compensating orthosis on reaching after stroke: evaluation of the therapy assistant WREX // Archives of Physical Medicine and Rehabilitation. 2008. V. 89. P. 2121-2128.
  12. Ferris D.P. The exoskeletons are here // Journal of NeuroEngineering and Rehabilitation. 2009. V. 6(17). http://www.jneuroengrehab.com/content/6/1/17.
  13. Feldman A.G. Centralnye i reflektornye mekhanizmy upravlenija dvizheniem. M.: Nauka. 1979.
  14. Bizzi E., Acconero N., Chapple W., Hogan N. Arm trajectory formation // Experimental Brain Research. 1982. V. 46. P. 139-143.
  15. Gomi H., Kawato M. Equilibrium-point control hypothesis examined by measured arm stiffness during multijoint movement // Science. 1996. V. 272. P. 117-120.
  16. Peterka R.J. Sensorimotor integration in human postural control // Journal of Neurophysiology. 2002. V. 88. P. 1097-1118.
  17. Frolov A.A., Dufosse M., Rizek S., Kaladjan A. On the possibility of linear modeling of the human arm neuromuscular apparatus // Biological Cybernetics. 2000. V. 82 (6). P. 499-515.
  18. Frolov A.A., Prokopenko R.A., Dufosse M., Ouezdou F.B. Adjustment of the human arm viscoelastic properties to the direction of reaching // Biological Cybernetics. 2006. V. 94. P. 97-109.
  19. Alexandrov A.V., Frolov A.A., Horak F.B., Carlson-Kuhta P., Park S. Feedback equilibrium control during human standing // Biological Cybernetics. 2005. V.93. P. 309-322.
  20. Bernshtejjn N.A. O lovkosti i ee razvitii. M.: Fizkultura i sport. 1947/1991.
  21. Gomi H., Kawato M. Human arm stiffness and equilibrium-point trajectory during multi-joint movement // Biological Cyber-netics. 1998. V. 76. P. 163-171.
  22. Grinyagin I.V., Biryukova E.V., Maier M.A. Kinematic and dynamic synergies of human precision grip movement // Journal of Neurophysiology. 2005. V.94. P. 2284-2294.
  23. An K.N., Jacobsen M.C., Berglund L.J., Chao E.Y.S. Application of a magnetic tracking device to kinesiologic studies // Journal of Biomechanics. 1988. V. 21. P. 613-620.
  24. Biryukova E.V., Roby-Brami A., Frolov A.A., Mokhtari M. Kinematics of human arm reconstructed from Spatial Tracking System recordings // Journal of Biomechanics. 2000. V. 33(8). P. 985-995.
  25. Prokopenko R.A., Frolov A.A., Biryukova E.V., Roby-Brami A. Assessment of the accuracy of a human arm model with seven degrees of freedom // Journal of Biomechanics. 2001. V. 34(2). P. 177-185.
  26. Korenev G.V. Celenapravlennaja mekhanika upravljaemykh manipuljatorov. M.: Nauka. 1979.
  27. Winter D.A. Biomechanics and motor control in human movement (Second ed.) // NewYork: JohnWiley and Sons. 1990.
  28. Biryukova E.V., Roschin V.Y., Frolov A.A., Ioffe M.E., Massion J., Dufosse M. Forearm postural control during unloading: anticipatory changes in elbow stiffness // Experimental Brain Research. 1999. V. 124(1). P. 107-117.
  29. Alexandrov A.V., Frolov A.A. Closed-loop and open-loop control of posture and movement during human upper trunk bending // Biological Cybernetics. 2011. V.104(6). P. 425-438.
  30. Gurev V.V., Zorja V.I., Birjukova E.V., Prokopenko R.A., Frolov A.A. Biomekhanicheskijj analiz pokazatelejj dvizhenijj v sustavakh nizhnejj konechnosti u bolnykh s koksartrozom kak metod funkcionalnojj diagnostiki // Vestnik ehksperi­mentalnojj i klinicheskojj khirurgii. 2011. T. 4(1). S. 94-100.
  31. Lacquaniti F., Licata F., Soechting J.F. The mechanical behavior of the human forearm in response of transient perturbations // Biological Cybernetics. 1982. V. 44. P. 35-46.
  32. Mussa-Ivaldi F.A., Hogan N., Bizzi E. Neural, mechanical and geometric factors subserving arm posture in humans // Journal of Neuroscience. 1985. V. 5. P. 2732-2743.
  33. Gottlieb G.L., Agarwal G.C., Tanavde A.S. A method of estimating human joint compliance which is insensitive to reflex, triggered or voluntary reactions // Society of Neuroscience Abstracts. 1986. V. 12. P. 468.
  34. MacKay W.A., Crammond D.J., Kwan H.C., Murphy J.T. Measurements of human forearm viscoelasticity // Journal of Biomechanics. 1986. V. 19. P. 231-238.
  35. Flash T. The control of hand equilibrium trajectories in multi-joint arm movements // Biological Cybernetics. 1987. V. 57.  P. 257-274.
  36. Lacquaniti F., Maioli C. The role of the preparation in tuning anticipatory and reflex responses during catching // Journal of Neuroscience. 1989. V. 9. P. 134-148.
  37. Flash T., Mussa-Ivaldi F. Human arm stiffness characteristics during the maintenance of posture // Experimental Brain Research. 1990. V. 82. P. 315-326.
  38. Latash M.L., Gottlieb G.L. Reconstruction of joint compliant characteristics during fast and slow movements // Neuroscience. 1991. V. 43. P. 697-712.
  39. Bennett D.J., Hollerbach J.M., Xu Y., Hunter I.W. Time-varying stiffness of human elbow joint during cyclic voluntary movement // Experimental Brain Research. 1992. V. 88. P. 433-442.
  40. Lacquaniti F., Carrozzo M., Borghese N.A. Time-varying mechanical behavior of multijoint arm in man // Journal of Neurophysiology. 1993. V. 69. P. 1443-1464.
  41. Mah C.D. Spatial and temporal modulation of joint stiffness during multijoint movement // Experimental Brain Research. 2001. V. 136. P. 492-506.
  42. Franklin D.W., Burdet E., Osu R., Kawato M., Milner T.E. Functional significance of stiffness in adaptation of multijoint arm movements to stable and unstable dynamics // Experimental Brain Research. 2003. V. 151(2). P. 145-157.
  43. Macpherson J.M. How flexible are muscle synergies - // Motor Control: Concepts and Issues (Humphrey D.R. and Freund H.-J. eds.). New York: Wiley Press. 1991. P. 33-47.
  44. Latash M.L., Anson G. What are «normal movements» in atypical populations - // Behavioral and Brain Sciences. 1996. V.19.  P. 55-106. 
  45. Levin M.F. Interjoint coordination during pointing movements is disrupted in spastic hemiparesis // Brain. 1996. V.119. P. 281-293.
  46. Bernshtejjn N.A. O postroenii dvizhenijj. M.: Medicina. 1947.
  47. Aleksandrov, A.V., Frolov A.A. Organizacija prjamogo dvigatelnogo upravlenija pri naklonakh korpusa cheloveka // Rossijjskijj zhurnal biomekhaniki. 2010. T.14. S. 19-35.
  48. Frolov A.A., Husek D., Bobrov P.D. Biomechanical model of balancing during standing on extremely narrow ridge // Submitted to Neural Network World. 2012.
  49. Alexandrov A.V., Frolov A.A., Massion J. Biomechanical analysis of movement strategies in human forward runk bending. I. Modeling // Biological Cybernetics. 2001. V. 84. P. 425-434.
  50. Gelfand I.M., Cetlin M.L. O matematicheskom modelirovanii mekhanizmov centralnojj nervnojj sistemy // Modeli strukturno-funkcionalnojj organizacii nekotorykh biologicheskikh sistem / pod red. I.M. Gelfand, V.S. Gurfinkel, S.V. Fomin, M.L. Cetlin. M.: Nauka. 1966. S. 9-26.
  51. Weiss P. Self differentiation of basic patterns of coordination  // Comparative Psychological Monograph. 1961. V.17. P. 1-96.
  52. Frolov A., Husek D., Bobrov P. Comparison of four classification methods for brain computer interface // Neural Network World. 2011. V. 21(2). P. 101-111.
  53. Frolov A., Husek D., Bobrov P., Korshakov A., Chernikova L., Konovalov R., Mokienko O. Sources of EEG activity the most relevant to performance of brain-computer interface based on motor imagery // Neural Network World (v pechati).
  54. Bobrov P.D., Korshakov A.V., Roshhin V.JU., Frolov A.A. Bajjesovskijj podkhod k realizacii interfejjsa mozg-kompjuter, osnovannogo na predstavlenii dvizhenijj // ZHurnal vysshejj nervnojj dejatelnosti. 2012. T. 62(1). S. 1-11.
  55. Frolov A.A., Birjukova E.V., Bobrov P.D., CHernikova L.A., Mokienko O.A., Platonov A.K., Prjanichnikov V.E. Interfejjs mozg-kompjuter: fiziologicheskie predposylki i klinicheskoe primenenie // Informacionno-izmeritelnye i upravljajushhie sistemy. 2013. T. 11. № 4.
  56. Kubler A. & Birbaumer N. Brain-computer interfaces and communication in paralysis: extinction of goal directed thinking in completely paralysed patients - // Clinical neurophysiology. 2008. V. 119(11). P. 2658-2666.
  57. Kalaska, J.F. What parameters of reaching are encoded by discharges of cortical cells - // Motor control: concepts and issues (D.R.Humphrey & H.-J. Freund eds.). Wiley: N.-Y. 1991. P. 307-330.
  58. Kalaska J.F., Scott S.H., Cisek P., Sergio L.E. Cortical control of reaching movements // Current Opinion in Neurobiology. 1997. V. 7. P. 849-859.
  59. Frolov A.A., Roschin V.Y., Biryukova E.V. Adaptive neural network model of multijoint movement control by working point velocity // Neural Network World. 1994. V. 4(2). P. 141-156.
  60. Prjanichnikov V.E., Baranov I.A., Denisov V.I., Kirsanov K.B., Kirilchenko A.A., Levinskijj B.M., SHagalov V.G.Adaptivnoe upravlenie gusenichnogo robota v zadache mobilnogo patrulirovanija // Informacionno-izmeritelnye i upravljajushhie sistemy. 2006. T.4. №1-3. S.91-98.
  61. Kuvshinov S.V., Prjanichnikov V.E., Artemenko O.L., Levinskijj B.M. Razrabotka ehlementov nauchno-obrazovatelnojj sredy dlja zadach mekhatroniki i sensoriki // Informacionno-izmeritelnye i upravljajushhie sistemy. 2006. T. 4. № 1-3. S. 170-175.
  62. Efanov V.P., Prjanichnikov V.E. Identifikacija slozhnykh obektov s ispolzovaniem sistemy robot-kompjuternyjj tomograf / // Informacionno-izmeritelnye i upravljajushhie sistemy. 2006. T. 4. № 1-3. S. 195-201.
  63. Akhterov A.V., Belousov A.I., Voronin A.JU., Kirilchenko A.A., Prjanichnikov V.E. Formirovanie dejjstvijj raspre­deljonnykh mobilnykh sistem v rezhime informacionnogo monitoringa // Informacionno-izmeritelnye i upravljaju­shhie sistemy. 2009. T. 7. № 6. S. 27-34.