Coordinated control method, device and system of functional electrical stimulation and exoskeleton equipment, and storage medium

Abstract

The invention relates to a coordinated control method, device and system of functional electrical stimulation and exoskeleton equipment, and a storage medium. The technical scheme in the invention comprises the steps of: obtaining human muscle model parameters, control parameters of functional electrical stimulation and control parameters of the exoskeleton equipment set for a certain patient, andthe distribution rate of functional electrical stimulation to the exoskeleton equipment; obtaining a pre-set joint motion trajectory by inputting the set human muscle model parameters, control parameters of functional electrical stimulation, control parameters of the exoskeleton equipment and the distribution ratio into a patient model, wherein the patient model is formed according to corresponding joint motion trajectories of multiple health users having known human muscle model parameters generated under the action of functional electrical stimulation and the exoskeleton equipment in different distribution ratios; and obtaining the actual joint motion trajectory information of a certain patient under the action of functional electrical stimulation and the exoskeleton equipment in the corresponding distribution ratio. The coordinated control method, device and system of functional electrical stimulation and the exoskeleton equipment, and the storage medium in the invention are suitable to the field of rehabilitation training.

Description

technical field [0001] The invention relates to a coordinated control method, device, storage medium and system for functional electrical stimulation and exoskeleton equipment, which is suitable for the field of rehabilitation training. Background technique [0002] my country has a huge population of disabled people, and with the further intensification of social aging, the number of physically disabled patients in my country has further increased. Among the physically disabled, only some of them are amputees, and most of the rest are acquired body movement dysfunction, such as hemiplegia caused by stroke, paraplegia caused by spinal cord injury, etc., and these patients have passed appropriate and effective rehabilitation training It is very possible to restore limb motor function. [0003] Traditional rehabilitation training is mostly passive training assisted by rehabilitation physicians, which is time-consuming and laborious and has no significant curative effect. At ...

AI Technical Summary

Problems solved by technology

[0007] Exoskeleton devices that mix functional electrical stimulation are highly non-linear and time-varying, thus creating control difficulties

Moreover, there are individual differences in the human musculoskeletal model, which makes the system identification model require a cumbersome process and increases the difficulty of physician control

In addition, in the collaborative control of hybrid exoskeleton, there are still problems such as large trajectory tracking error, poor follow-up performance of the man-machine system, and insufficient robustness of the model system.

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