Lower limb rehabilitation robot system based on myoelectric signal feedback, and control method thereof

Abstract

The invention relates to a lower limb rehabilitation robot system based on myoelectric signal feedback, and a control method thereof. The robot system comprises a mechanical part and an electrical part. The major application targets of the method are rehabilitation patients at early and middle stages. When a patient uses the method to perform rehabilitation training, myoelectric signals of moving muscles of the patient are acquired in real time, the motion intention and the motion speed of the patient are identified, the expected tracks of robots are generated, the expected tracks of driving parts are obtained through inverse solution of kinematics, and motors are driven to output through a designed fuzzy PID (Proportion-Integration-Differentiation) controller. After each motion period, the acquired myoelectric signals are analyzed to judge whether the patient is in a fatigued state or not. When the fatigued state is larger than or equal to a set fatigue threshold, the original output is corrected to remind the patient. After the fatigue is relieved, the rehabilitation training can be resumed. The lower limb rehabilitation robot system based on the myoelectric signal feedback, and the control method thereof have the advantages that since the intention and the muscle state of the patient are identified by using the myoelectric signals, and the myoelectric signals are introduced into control, the participation awareness and the training safety of the patient can be well improved, and the rehabilitation effect is effectively improved.

Description

technical field [0001] The invention relates to the field of rehabilitation medical equipment and technology, in particular to a lower limb rehabilitation robot system based on electromyographic signal feedback and a control method thereof. Background technique [0002] Stroke is a well-known stroke. It is a kind of disease with sudden fainting, unconsciousness, crooked mouth and hemiplegia as the main symptoms. Because of its high morbidity, high mortality, high disability rate, high recurrence rate, and many complications, the medical community has listed it as one of the three major diseases that threaten human health along with coronary heart disease and cancer. Practice has shown that through timely and active rehabilitation training, most stroke patients can recover simple limb movement ability and even recover. At present, the clinically applied rehabilitation treatment methods mainly rely on doctors to assist patients in rehabilitation training, resulting in the eff...

AI Technical Summary

Problems solved by technology

[0003] At present, domestic and foreign scientific research institutions have developed various types of rehabilitation robots, but most of them adopt relatively simple control methods, which can only assist patients to complete relatively simple rehabilitation training, and it is difficult to mobilize patients' active participation awareness and self-confidence

At the same time, due to the lack of an evaluation strategy for the patient's physiological state, the patient is fatigued during the rehabilitation process, and is prone to accidents leading to secondary injuries, which limits the popularization and application of rehabilitation robots.

Images