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A control method using SEMG to control the stiffness of ankle joint rehabilitation equipment

A technology of rehabilitation equipment and control methods, applied in the fields of application, passive exercise equipment, medical science, etc., can solve problems such as ankle joint dysfunction, affecting walking function, joint instability, etc., and achieve the effect of high efficiency and simple method

Active Publication Date: 2020-06-09
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

If the treatment of ankle joint sports injuries is not timely or thorough, it will easily lead to excessive relaxation of ankle ligaments, joint instability, easy to cause repeated sprains, resulting in sequelae such as ankle joint dysfunction, which will seriously affect walking function
At present, many ankle joint rehabilitation treatments still rely on rehabilitation physiotherapists, but with the decline of the demographic dividend, the number of rehabilitation physiotherapists is far from meeting the rehabilitation medical needs of patients. Therefore, ankle joint rehabilitation medical robots have been sought after by researchers. The successful application of it will also revolutionize the field of rehabilitation medicine for patients
However, many of the current ankle rehabilitation robots based on electromyographic signals (sEMG) cannot make patients feel comfortable, safe, and anti-interference in the actual rehabilitation medical process, and they rarely meet Patient needs in different rehabilitation situations

Method used

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  • A control method using SEMG to control the stiffness of ankle joint rehabilitation equipment
  • A control method using SEMG to control the stiffness of ankle joint rehabilitation equipment
  • A control method using SEMG to control the stiffness of ankle joint rehabilitation equipment

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Embodiment Construction

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0062] Such as figure 1 Shown is the flow chart of the control method of the present invention.

[0063] The sEMG signals of the tibialis anterior muscle and gastrocnemius muscle most related to ankle joint movement were collected and processed, including high-pass filtering and low-pass filtering. The filters were Butterworth filters with cut-off frequencies of 190 Hz and 50 Hz, respectively. Feature extraction is performed on the filtered sEMG signals of the two channels, and the feature values ​​extracted by each channel are: zero crossing times (ZC), root mean square (RMS), and waveform length (WL). The method is as follows:

[0064] where|x i -x i+1 |>ε

[0065] The introduction of ε is to prevent small-value noise, and ZC can roughly represent the signal frequency.

[0066]

[0067] RMS is a measure of signal energy.

[0068] ...

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Abstract

The invention relates to a method for controlling the rigidity of ankle joint rehabilitation equipment by using sEMG, which collects sEMG signals of tibialis anterior muscle and gastrocnemius muscle.A filter is used to filter the collected sEMG signal. The eigenvalue of the filtered sEMG signal is extracted and the eigenvector is formed. Using LDA algorithm to classify the ankle movements, different ankle movements can be obtained. According to the results of classification, the corresponding neural network is selected and the corresponding muscle activity is obtained to estimate the joint torque. The model of ankle joint torque and ankle joint stiffness is established to estimate ankle joint stiffness and control ankle joint stiffness. The method can meet the requirements of safety, comfort and anti-interference of the wearable ankle joint equipment of the patient. Moreover, for patients with different rehabilitation conditions, it is not necessary to retrain the neural network model, only need to modify individual model parameters, the method is simple and efficient.

Description

technical field [0001] The invention relates to the field of biological signal identification technology and medical rehabilitation training robot, in particular to a control method for controlling the stiffness of ankle joint rehabilitation equipment by using sEMG. Background technique [0002] Rehabilitation robot is an important branch of medical robot. Its research runs through many fields such as rehabilitation medicine, biomechanics, mechanics, mechanics, electronics, materials science, computer science and robotics. It has become an international robotics field. Research hotspots. [0003] The control method of rehabilitation robots based on electromyographic signals (sEMG) has become one of the important methods of human-computer interaction. It has the characteristics of real-time, convenience, and non-invasiveness, and is more suitable for rehabilitation fields such as helping the elderly and the disabled. Widespread concern. [0004] The causes of ankle dysfunct...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61H1/02A61B5/0488A61B5/00
CPCA61B5/7235A61B5/725A61B5/7264A61H1/0218A61H1/0266A61H1/0288A61H2201/1207A61H2201/1638A61H2201/1642A61H2201/1659A61H2201/50A61H2205/067A61H2205/12A61H2230/085A61B5/316A61B5/389
Inventor 韩建达赵新刚孙华宝赵瑜赵明
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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