Fuzzy control with amplitude/pulse-width modulation of nerve electrical stimulation for muscle force control.

The main goal of this study was to study the performance of fuzzy logic controllers combined with simplified hybrid amplitude/pulse-width (AM/PW) modulation to regulate muscle force via nerve electrical stimulation. The recruitment curves with AM/PW and AM modulations were constructed for the calf muscles of rabbits. Integrated with the modulation methods, a proportional-integral-derivative (PID) and three fuzzy logic controllers were designed and applied for the electrical stimulation of tibial nerves to control the ankle torque under isometric conditions. The performance of the two modulation methods combined with the four controllers was compared when the ankle was fixed at three positions for both in vivo experiments and model simulations using a nonlinear muscle model. For the animal experiments, AM/PW modulation performed better than AM modulation alone. The fuzzy PI controller performed marginally better and was resistant to external noises, though it tended to have a larger overshoot. The performance of the controllers had a similar trend in the three different joint positions, and the simulation results with the nonlinear model matched the experimental results well. In conclusion, AM/PW modulation improved controller performance, while the contribution of fuzzy logic was only marginal.

Chronic electrical stimulation of four acupuncture points on rat diabetic neuropathy.

The main purpose of this study is to investigate the effects of chronic electrical stimulation of acupuncture points on rat diabetic neuropathy. Diabetes mellitus was induced by a single dose of intravenous streptozotocin. The efficacies of several different protocols of electrical stimulation were compared. The evaluation measures included nerve conduction velocity, tactile threshold and blood perfusion on eye and footpad. Electrical stimulation was administered 30 min/day for 4 weeks. On the 4th weekend of stimulation, when compared with the control group, the stimulated groups showed differential benefits on different evaluation measures. The results indicated that chronic electrical stimulation could reduce the functional deficits of diabetic neuropathy.

Performance of elbow tracking under constant torque disturbance in normotonic stroke patients and normal subjects.

OBJECTIVE: In this study, the influences of externally imposed constant torque on the voluntary elbow movements of stroke and normal subjects were investigated quantitatively. BACKGROUND: Muscle weakness, spasticity and incoordination are the major factors that interfere with stroke patient's limb functions. Imposing external torque disturbance may worsen the motor performance. This experiment was designed to investigate the effects of small constant external torque on the performance of voluntary elbow movements. METHODS: Tracking of a ramp-and-hold angle trajectory in the direction of extension was used as the main task for performance assessment. Each subject repeated the same tracking movement six times in each of three loading conditions: no, assistive or resistive loading. Five normal and six stroke subjects were recruited for this study. We used parameters extracted from movement trajectory and processed electromyograms as the performance indicators. RESULTS: For normal subjects, there was no difference in the tracking performance in the three loading conditions. For stroke patients, the affected side had inferior performance to the healthy side in the free loading condition and the difference diminished in assistive and resistive loading conditions as the performance of the affected side improved. Integrated electromyograms of biceps or triceps did not show significant changes in different loading conditions. CONCLUSIONS: Small externally imposed constant torque, either resistive or assistive, may improve motor performance of affected elbows in stroke patients. RELEVANCE: Most of the currently available prostheses are passive devices, aiming at providing better support and improving stability. The results of the current study imply that an active prosthetic device that applies a small constant torque to the hemiparetic elbow can improve its motor performance in stroke patients. The direction of external torque is to assist the weaker side of the antagonistic muscle pair.

Pericarditis due to Tsutsugamushi disease.

Tsutsugamushi Disease is an acute febrile illness caused by Rickettsia tsutsugamushi, which enters into the human bloodstream through the bite of leptotrombidium. It is characterized by eschar, fever and cutaneous rash. Pericardial effusion in Tsutsugamushi Disease is not a common manifestation, although a high rate of effusion was reported in autopsy in those who had died of the disease. Here, we report a case of Tsutsugamushi pericarditis documented by indirect immunofluorescent test of pericardial fluid, and give a brief review of the literature.

Time-course analysis of stretch reflexes in hemiparetic subjects using an on-line spasticity measurement system.

Spasticity after a stroke is usually assessed in a score form by subjectively determining the resistance of a joint to an externally imposed passive movement. This work presents a spasticity measurement system for on-line quantifying the stretch reflex of paretic limbs. Four different constant stretch velocities in a ramp-and-hold mode are used to elicit the stretch reflex of the elbow joint in spastic subjects. The subjects are tested at supine position with the upper limb stretched towards the ground, in contrast with the horizontally stretched movement used in other studies. By subtracting the baseline torque, reflex torque measured at a selected low stretch velocity of 5 deg/sec, the influence of gravity torque and inertial in vertical stretching mode can be minimized. The averaged speed-dependent reflex torque (ASRT), defined as the measured torque deviated from the baseline torque, is used for quantifying the spastic hypertonia. Four subjects having incurred cerebrovascular accident (CVA) are recruited for time-course study in which the measurements are taken at 72 hours, one week, one month, three months, and six months after onset of stroke. During the development of spasticity, the changes of ASRT and velocity sensitivity of ASRT of the involved and the intact elbow joints are discussed.

Switching transient analysis of a metal/ferroelectric/semiconductor switch diode with high speed response to infrared light.

A thin PbTiO(3)-n-p(+) silicon switch diode has been developed, in which the switching voltage (the turned-on voltage) changes in proportion to the infrared light power. The diode has a rapid response time of 0.65 mus compared with other conventional infrared sensors. It is attributed to the rapid switching device structure and the smaller pyroelectric layer thickness, 50 nm. In this paper, we have analyzed the rapid switching transient response by using heat conduction and switching theory successfully. The experimental results are in agreement with the theoretical analysis.

Effects of phenylephrine on ciliary beat in human nasal respiratory epithelium: quantitative measurement by video-computerized analysis.

The in vitro effects of phenylephrine solution on ciliary beat frequency (CBF) in terms of different concentrations and exposure times were investigated using a video-computerized analysis technique. Nasal epithelial cells were taken from inferior turbinate of 10 volunteers by scraping the nasal mucosa with a cytology brush. CBF was measured in five different concentrations including 0.125%, 0.25%, 0.5%, 1%, and 2.5%. Each specimen was incubated in different solution for 6 days and CBF was measured at 30 minutes, 1 hour, 2 hours, 4 hours, 8 hours, 12 hours, 1 day, 2 days, 3 days, 4 days, 5 days, and 6 days. CBF decreased significantly after 12-hour incubation in 0.125% phenylephrine solution and after 8-hour incubation in 0.25% phenylephrine solution, both clinically used concentrations. There were significant decreases in CBF after incubation in 0.5% phenylephrine for 2 hours, in 1% for 1 hour, and in 2.5% for 30 minutes (P < 0.05, repeated measure analysis of variance [ANOVA]). CBF of the nasal respiratory ciliated cells significantly decreased with increasing concentrations of phenylephrine solution and with increasing incubation times at the same concentration (P < 0.05, repeated measure ANOVA). The results of this study suggest that phenylephrine may inhibit ciliary beat in vitro by its pharmacological effect at lower concentrations than clinically used ones.

Adaptative control of above knee electro-hydraulic prosthesis.

Conventional designs of an above-knee prosthesis are based on mechanisms with mechanical properties (such as friction, spring and damping coefficients) that remain constant during changing cadence. These designs are unable to replace natural legs due to the lack of active knee joint control. Since the nonlinear and time-varying dynamic coupling between the thigh and the prosthetic limb is high during swing phase, an adaptive control is employed to control the knee joint motion. Two dimensional simulation indicates that the adaptive controller can improve the appearance of gait pattern. It is adaptable to walking speed and can compensate for the variations of hip moment, hip trajectory and toe-off conditions.

[Evaluation of the effects of pulling angle and force on intermittent cervical traction with the Saunder's Halter].

Intermittent cervical traction with proper angle and force is an effective treatment for cervical syndrome. The goals of therapy are effective traction for the affected segments without further damage to the soft tissue. The purposes of this study were to find the traction angle and force which results in the best therapeutic effect. The effect of cervical traction was evaluated by cervical roentgenography, by examining the distance of the posterior margin of the intervertebral space. For a study of the proper angle of traction, intermittent cervical traction was applied to 20 healthy normal volunteers in a supine position with a constant traction force of 15 kgf. The traction lasted for 8 seconds followed by unloading for 4 seconds and the application was alternated after 10 minutes. The elongated gaps of the posterior vertebral margins obtained from the different neck flexion angles of 35, 30, 25, 20 and 15 degrees were compared. Traction of under 30 degrees was longest for the levels of C4- 5 and C5-6. For the C6-7 and C7-T1 levels, traction was longest under 35 degrees. For study of the minimal effective traction force, the same procedures of intermittent cervical traction were applied to another 15 healthy normal volunteers, except the neck was fixed in a flexion of 35 degrees, and the traction force was 9, 12, 15 and 18 kgf. The best results were noted with a traction force of 15 or 18 kgf. However, there were more complaints of neck discomfort after traction with a force of 18 kgf.

[Application and evaluation of the VICON system in gait analysis].

By employing the VICON system, segment angular displacement, velocity and acceleration of the lower limbs were achieved from an Above-Knee (A/K) Amputee using a constant friction prosthesis during the swing phase of the gait cycle. By applying computer for data analysis and inputing anthropometric data of the (A/K) Amputee, kinematic trajectory and a stick diagram of lower limbs were obtained. The data were then compared with those obtained from normal subjects. The results showed that the VICON system can provide quantitative analysis of several important parameters in the gait cycle and that it is very helpful in the evaluation and rehabilitation training of abnormal gait.

Simulation of the double limb support phase of human gait.

Dynamic mechanical models of the double limb support phase of human gait were developed for both two-dimensional (sagittal plane) and three-dimensional motion. A "foot" model with a curved plantar surface was also developed such that the model foot motion was kinematically equivalent to that of a walking subject. This foot model was incorporated into the planar model for double limb support. The dynamic formulations were based on Kane's method and were implemented symbolically using MACSYMA. The development of the formulations for the constrained systems, application of these formulations to the study of normal gait, the sensitivity of the simulation to the frequency content of the input data, the sensitivity of limb displacements to changes in joint moments and the application of a nonlinear feedback controller to correct for perturbations in limb trajectories were investigated.