Genetic fuzzy control method of joint angles by functional electrical stimulation

Abstract

The invention relates to the field of physical rehabilitation by functional electrical signal stimulation for accurately and stably controlling a current mode of an FES (Functional Electrical Stimulation) system in real time and effectively improving the accuracy and the stability of the FES system. The technical scheme adopted by the invention comprises the following steps of: firstly, confirming a quantifying factor, a proportionality factor and membership function parameters of fuzzy control; secondarily, selecting suitable final evolution algebra G, crossover probability Pc and mutation probability of a genetic algorithm; optimizing by the genetic algorithm to reach the optimal state and acquiring a fuzzy control decision variable kfuzzi; calculating system output and a deviation between the system output and a muscle model under new fuzzy control parameters, and entering the self-adaptive fuzzy controller parameter adjusting step of the next genetic algorithm; and repeating the process to finally realize the self-adaptive online adjustment of the fuzzy controller parameters to be used in the FES system. The invention is mainly applied to the genetic fuzzy control of joint angles by the functional electrical stimulation.

Description

technical field [0001] The invention relates to the field of limb rehabilitation with functional electrical signal stimulation, in particular to a genetic fuzzy control device for functional electrical stimulation of joint angles. Background technique [0002] Functional Electrical Stimulation (Functional F1electrical 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. ...

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 action 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 real-time performance, accuracy and stability of the FES system. , but effective control methods are still being explored

[0003] Fuzzy controller is a method of formalizing and modeling human experience through fuzzy logic and approximate reasoning, and turns it into a control model acceptable to computers, allowing computers to replace people in real-time control of advanced strategies and control of the controlled object. The novel technical method can effectively improve the controllability, adaptability and rationality of the control algorithm, especially for the complex and difficult to model with mathematical equations and has a unique advantage in the subject of rich manual control experience, while the human muscle The complexity and time-varying operating environment make it possible to establish its mathematical model, making it difficult for traditional control methods to adapt to the strict requirements of the FES field. The fuzzy controller provides a new solution for the precise control of FES

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