Developing a Surface Functional Electrical Stimulation System with Force Feedback Control to Restore Hand Function

中風與偏癱病患無法直接由大腦控制手部動作，因而喪失了部分日常生活的能力。本研究之電刺激策略，係以未偏癱側之手操控搖桿進而電刺激患側之手，電刺激系統包括比例式命令控制與電刺激程序，並調整電刺激器輸出。使用本系統之病人可藉由調整電刺激參數，完成抓握、側握和三指拿握三項手部開迴路動作。此外，在抓握動作時，利用FSR手套擷取病患握合時之力量，配合力量的回饋控制，避免肌肉快速疲乏，導致抓握力量衰減。經由臨床測試，使用本系統，病患可以自己操控偏癱側之手指，完成抓握杯子、側握鑰匙與三指拿握錄音帶盒子三種動作，而且能維持病患抓握之握合力量於穩定值。

Some of the stroke or hemiplegia patients could not move their hands so as not to grasp objects in their daily life. In this work, the electrical stimulation strategy is that the patients use their normal side hand to control the joystick and the paralyzed hand is thus moved when receiving the electric stimulation. The system consists of proportional command control, stimulation procedures, and electrical intensity control. By adjusting electrical stimulation parameters, the patient can grasp objects in three hand postures. A force sensing resistor glove is also used to feedback grasping forces thus reduce fatigue.
Clinic trials show that the patients can grasp cups, keys and cassette cases with proper stimulation of this system.