Ataxia Manifestation And Compensation Control Based On A Bionic Cerebellar Model

The cerebellum plays an important role in the coordinated movement of the human body.At present,there are no effective drugs to improve ataxia,and rehabilitation training is the main intervention measures.The effect of rehabilitation training depends on the pertinence of the training method,and the better pertinence comes from the establishment of a reasonable bionic cerebellum model and its ataxia expression.Aiming at most of the cerebellum only focused on the modeling method to complete the function of the cerebellum,although can be very good control but it is difficult to apply to simulate the problem of the damaged cerebellum,in this thesis based on the theory of artificial neural network and the control method,is proposed and established a new type of bionic cerebellum model,and based on the bionic cerebellar ataxia characterization model studied and compensation control method,the main contents include:(1)Draw lessons from the cerebellum anatomy structure and internal Purkinje Cell of cerebellar cortex,Granular Cell,Climbing Fiber and so on the many kinds of connection mode and action mechanism of neurons and other physiological characteristics,and according to the cerebellum independent homogeneous structure,and on the basis of the principle of control study related basic theory of artificial neural network to establish the cerebellum cell array module,simulation cerebellum micro area structure and physiological characteristicsThen,on this basis,the activation process and learning mechanism of the cerebellar motor control command to the corresponding spinal muscle system were analyzed.The cerebellum based on the cerebellar model associated controller set the state of the encoder module,combined with the spinal muscle system module and the inferior olive feedback module to construct a new bionic cerebellar model.(2)The bionic cerebellum model was verified by arm motion control experiment.First is the computer simulation experiment,the establishment of two connecting rod three Angle simulation arm module.Under the control of the bionic cerebellum model,the direction of the simulated arm is constantly changed to make it move towards the target position.The running track of the simulated arm is relatively smooth,and it finally reaches the predetermined target position,which proves the effectiveness of the bionic cerebellum model in motion control.Then comes the physical experiment of force feedback device.The Geomagic force feedback device,which is similar to the human arm joints,is used to build the simulated armcontrol platform,so as to visually see the real situation of arm movement under the control of the bionic cerebellum model.(3)Aiming at the unclear relationship between the change of cerebellar network level and cerebellar dysfunction,the possible pathogenesis of cerebellar ataxia was analyzed and summarized.In the closed-loop motion control system of the bionic cerebellum model and the arm module,some parameters of the bionic cerebellum model were adjusted to produce the phenomenon of cerebellar ataxia distance barriers.The results of simulation were analyzed to infer the underlying neural mechanism of cerebellar circuit changes caused by cerebellar lesions,and the ataxia characterization was established.(4)This thesis analyzes and summarizes the effect of treatment methods for cerebellar ataxia,including drug therapy,traditional Chinese medicine therapy and rehabilitation training,and puts forward two treatment strategies: external stimulation method and robot rehabilitation compensation control method.Simulation experiments of external stimulation and robot rehabilitation compensation control were carried out for the simulated symptoms of distance discrimination disorder.The results showed that both of the two compensation strategies could significantly improve the condition of cerebellar ataxia distance discrimination disorder.Therefore,aiming at the main problems in the study of cerebellar ataxia,this thesis takes arm extension motor control as the research object and constructs a complete and damaged cerebellar model from the perspective of cerebellar anatomy and physiology.On this basis,the compensation control strategy of cerebellar ataxia dysmetria was studied,which laid a foundation for the further development of new personalized assistance and rehabilitation technologies.