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Double source feature fusion ant colony tuning method for PID (Proportion Integration Differention) parameter in functional electro-stimulation

A functional electrical stimulation, feature fusion technology, applied in the direction of instruments, artificial respiration, adaptive control, etc., can solve problems such as deviation

Active Publication Date: 2012-11-28
大天医学工程(天津)有限公司
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Problems solved by technology

According to statistics, there is still little research on the trigger control of FES at present, and according to the deviation between the effect and the predetermined action, the closed-loop control is used to automatically adjust the FES stimulation intensity and timing parameters, thereby greatly improving the accuracy and stability of the FES system. Effective control methods are still being explored

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  • Double source feature fusion ant colony tuning method for PID (Proportion Integration Differention) parameter in functional electro-stimulation
  • Double source feature fusion ant colony tuning method for PID (Proportion Integration Differention) parameter in functional electro-stimulation
  • Double source feature fusion ant colony tuning method for PID (Proportion Integration Differention) parameter in functional electro-stimulation

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Embodiment Construction

[0050] The gist of the present invention is to propose a new precision control method for FES, utilize the error of the knee joint angle predicted by the HRV parameter of the walker and the joint angle predicted by the actual knee joint angle, optimize the proportional coefficient of PID by ant colony algorithm, Integral coefficient and differential coefficient, and then accurately and stably control the current intensity of the FES system in real time. The invention can effectively improve the accuracy and stability of the FES system, and obtain considerable social and economic benefits.

[0051] The structure of the application of new precision control technology in HRV-based functional electrical stimulation walking aid is as follows: figure 2 As shown, the workflow is as follows: firstly, the knee joint angle is predicted by using the HRV of the walking aid process; secondly, the ant colony algorithm is used to adjust the PID parameters, and the FES current level is adjus...

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Abstract

The invention relates to the instrument field for limbs rehabilitation by electronic impulse stimulation. The invention adopts the following technical scheme to control the current strength of an FES (Functional Electro-Simulation) system in real time accurately and stably so as to improve the accuracy and the stability of the FES system. A double source feature fusion ant colony tuning method for PID (Proportion Integration Differention) parameter in functional electro-stimulation comprises steps as follow: first, forecasting knee joint angle by a muscle model HRV in the processes of assisted walking; then, tuning the PID parameter through an ant colony optimization and adjusting current strength of the FES system in real time; controlling the PID parameter through ant colony optimization and keeping the optimization process till anticipatory goal is achieved; calculating system output and difference between the muscle model HRV with new PID parameter and then entering the step of self-learning of the ant colony optimization and self-regulating of weighting coefficient; repeating the former step for self-adapting on-line tuning of PID control parameter and using the tuned PID control parameter in the FES system. This invention is mainly applied for tuning PID parameter.

Description

technical field [0001] The invention relates to the field of equipment for limb rehabilitation by electrical pulse stimulation, in particular to a dual-source feature fusion ant colony tuning method for PID parameters in functional electrical stimulation. Background technique [0002] Functional Electrical Stimulation (FES) is a technology that stimulates limb motor muscles and peripheral nerves through current pulse sequences to effectively restore or reconstruct part of the motor function of paraplegic patients. According to statistics, due to the weak regeneration ability of the spinal cord, there is currently no effective treatment method that can directly repair the injury for paralyzed patients with spinal cord injury. The implementation of functional rehabilitation training is an effective measure. The number of paralyzed patients with spinal cord injury is increasing year by year, and functional rehabilitation training is an urgently needed technology. In the 1960s,...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02A61N1/36
Inventor 明东张广举刘秀云朱韦西邱爽万柏坤
Owner 大天医学工程(天津)有限公司
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