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Walking aid functional electrical stimulation precision control method based on ant colony fuzzy controller

A technology of functional electrical stimulation and fuzzy controller, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as lack of experience and knowledge

Active Publication Date: 2010-09-01
大天医学工程(天津)有限公司
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Problems solved by technology

At present, the entire mechanism of muscles has not been fully grasped, and experience and knowledge are relatively lacking.

Method used

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  • Walking aid functional electrical stimulation precision control method based on ant colony fuzzy controller
  • Walking aid functional electrical stimulation precision control method based on ant colony fuzzy controller
  • Walking aid functional electrical stimulation precision control method based on ant colony fuzzy controller

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Embodiment Construction

[0070] A new method of adaptively tuning fuzzy controller (Fuzzy Controller) parameters by Ant Algorithm (Ant Algorithm) is proposed to precisely control the current mode of Functional Electrical Stimulation (FES). The technical process is: optimize the membership function, quantization factor and scale factor of the fuzzy controller through self-adjustment of the ant colony algorithm, and then control the current mode of the FES system. This method is a brand-new precise control technology of functional electrical stimulation.

[0071] The structure of the application of the precise control method of walking aid functional electrical stimulation based on ant colony fuzzy controller is as follows: figure 1 shown. The workflow is as follows: first, the selection of 12 decision variables of the quantization factor, scale factor and membership function parameters of the fuzzy controller is transformed into a combinatorial optimization problem suitable for the ant colony algorith...

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Abstract

The invention relates to the field of rehabilitation devices and discloses a walking aid functional electrical stimulation precision control method based on an ant colony fuzzy controller, aiming at effectively improving the accuracy and the stability of an FES (Functional Electrical Stimulation) system. In the technical scheme of the invention, the walking aid FES precision control method based on the ant colony fuzzy controller comprises the steps of: firstly, converting a quantitative factor and a proportional factor of the fuzzy controller and the selection of 12 decision factors of a membership function parameter into a combination optimization problem applicable to an ant colony algorithm and carrying out encoding on the combination optimization problem and generating n initial urban agglomerations formed by individuals randomly; then, establishing a reasonable corresponding relationship target function of an actual joint angle and a muscle model output joint angle and determining the parameter configuration of the ant colony algorithm; entering an optimizing process; and regulating ant colony information quantity according to deviation, entering a next optimizing process, repeating the process, finally realizing the self-adaption on-line setting of the parameters of the fuzzy controller and applying to the FES system. The invention is mainly used for improving the accuracy and the stability of the FES system.

Description

technical field [0001] The invention relates to the field of rehabilitation equipment, in particular to a precise control method for walking-assisting functional electrical stimulation based on an ant colony fuzzy controller. 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. At present, due to the weak regeneration ability of the spinal cord, there is 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. According to statistics, 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, Liberson successfully used ...

Claims

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Application Information

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IPC IPC(8): A61N1/36G05B13/02
Inventor 明东张广举邱爽刘秀云徐瑞万柏坤
Owner 大天医学工程(天津)有限公司
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