Control method for active rehabilitation treatment by using sEMG on affected side of patient

Abstract

The invention relates to a control method for active rehabilitation treatment by using sEMG on an affected side of a patient. The control method comprises a model training stage and an online active rehabilitation treatment stage. The method utilizes the antagonistic relationship between the tibialis anterior muscle and the gastrocnemius muscle during ankle joint movement, enables the action typeof the ankle joint correlated with the contraction of a single muscle group, and achieves the movement intention identification; continuous estimation of a motion angle is completed and a continuous smooth joint motion angle estimation curve is obtained by utilizing a normalized characteristic value; then, the identified motion intention and the estimated joint motion angle serve as inputs to be sent to an ankle joint rehabilitation robot, the robot assists the patient to achieve a target action, and corresponding active rehabilitation treatment is completed. The method can meet the requirements of patients for simple control, safety and reliability of the exoskeleton type ankle rehabilitation device. For patients in different rehabilitation stages, only a small amount of parameters need to be modified, an off-line model can be well adapted, and the off-line model is more convenient, fast and easy to operate.

Description

technical field [0001] The invention relates to the fields of biological signal recognition technology and medical rehabilitation training robots, in particular to a control method for active rehabilitation treatment using sEMG (surface electromyography signal) on the affected side of a patient. Background technique [0002] In recent years, the phenomenon of population aging in my country has become increasingly serious, and the incidence of stroke has also shown an increasing trend year by year. For stroke patients suffering from ankle movement disorders, their ankle joints are in a state of foot drop for a long time. If they cannot receive rehabilitation treatment in time, irreversible damage will occur. The traditional rehabilitation treatment method is that the rehabilitation practitioner repeatedly pulls the patient's ankle joint to move the muscles and stretch the Achilles tendon. However, for the rehabilitation physician, the huge number of patients makes the rehabil...

AI Technical Summary

Problems solved by technology

However, it is difficult for the affected side of the patient to maintain a certain movement for a long time, and it is also difficult to obtain accurate training data.

[0006] 2. Due to the difficulty in obtaining accurate training data, the accuracy of the model is difficult to guarantee, resulting in large interference and errors in online classification and online motion angle estimation

[0007] 3. When the position of the pasted electrode is changed, it will have a greater impact on online classification and motion angle estimation

Therefore, the model needs to be retrained before each rehabilitation training, which means that the training data needs to be collected again, and this is the most complicated part of the whole process

[0008] 4. When estimating the online motion angle, a lot of calculations are required, and there will be a delay with the accumulation of time, so it is difficult to ensure the real-time performance of the entire system

Images