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

A rehabilitation robot and electromyographic signal technology, applied in sensors, passive exercise equipment, medical science, etc., can solve problems such as difficulty in mobilizing patients' awareness of active participation and self-confidence, secondary injury, and fatigue in the patient's rehabilitation process. The effect of secondary injury risk, work intensity reduction, and safety improvement

Active Publication Date: 2013-12-11
苏州瑞迈康健医疗科技有限公司
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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 parti

Method used

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

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Example Embodiment

[0029] Example 1:

[0030] combine figure 2 and image 3 be described as follows;

[0031] When performing rehabilitation training on patients, firstly, the skin surface of the quadriceps femoris and tibialis anterior muscle needs to be wiped with alcohol to remove dead skin and prevent the effect of EMG signal collection. After air-drying, the EMG electrode sheet was attached to the skin surface wiped with alcohol using a differential method. Turn on the power of the system, the rehabilitation robot assists patients in rehabilitation training, collects surface EMG signals in real time through EMG electrodes and EMG amplifiers, performs 50Hz notch on EMG signals, removes power frequency interference and amplifies 1000 times, and collects data by NI The card is transmitted to the host computer; the host computer performs the following calculations on the collected EMG signals to obtain iEMG, RMS

[0032] iEMG = ∫ t ...

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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...

Claims

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Application Information

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IPC IPC(8): A61H1/02A61B5/0488
Inventor 杜义浩赵鹏谢平徐文玉
Owner 苏州瑞迈康健医疗科技有限公司
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