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Setting method of functional electrical stimulation PID (Proportion Integration Differentiation) parameter double source characteristic fusion particle swarm

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
禹锡科技(天津)有限公司
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AI Technical Summary

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

Method used

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  • Setting method of functional electrical stimulation PID (Proportion Integration Differentiation) parameter double source characteristic fusion particle swarm
  • Setting method of functional electrical stimulation PID (Proportion Integration Differentiation) parameter double source characteristic fusion particle swarm
  • Setting method of functional electrical stimulation PID (Proportion Integration Differentiation) parameter double source characteristic fusion particle swarm

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Embodiment Construction

[0059] 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 PID parameters are adjusted by the chaotic particle swarm optimization algorithm, and the FES current level is adjusted in real time. Its setting structure diagram is as follows: image 3 As shown, it is: firstly, according to the three decision variables K of PID p 、K i and K d Determine the upper and lower bounds of the value range, determine the size of the particle swarm, the dimension of the search space and other parameters, and initialize the velocity and position of the particle swarm, and then use the corresponding relationship between the actual joint angle and the joint angle output by the muscle model as a moderate evaluation function to calculate the particle The fit...

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Abstract

The invention relates to the field of instruments for extremity rehabilitation by utilizing electric pulse stimulation and provides a setting method of a functional electrical stimulation PID (Proportion Integration Differentiation) parameter double source characteristic fusion particle swarm. With the setting method, the current strength of an FES (Functional Electrical Stimulation) system can be accurately and stably controlled in real time and the accuracy and the stability of the FES system can be efficiently enhanced. The invention adopts the technical scheme that: firstly, a knee joint angle is predicted by utilizing a handle reaction vector (HRV) in the walk aid process; and secondly, a proportion calculus PID parameter is set by utilizing a chaos particle swarm algorithm, the FES current level strength is regulated in real time, and finally self-adaptive online setting of the proportion calculus PID parameter is realized, and the invention is also used for a functional electrical stimulation FES system. The invention is mainly applied to setting the PID parameter in functional electrical stimulation.

Description

technical field [0001] The invention relates to the field of equipment for limb rehabilitation by means of electrical pulse stimulation, in particular to a method for setting dual-source feature fusion chaotic particle groups of 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02A61N1/36A61H3/00
Inventor 明东张广举邱爽徐瑞刘秀云程龙龙万柏坤
Owner 禹锡科技(天津)有限公司
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