Low-frequency functional electrical stimulation synchronous walking aid based on walking modes and control method

Abstract

The invention provides a multi-channel FES (Functional Electrical Stimulation) synchronous walking aid. The multi-channel FES synchronous walking aid comprises a hose, a trigger and an electrode; a stimulator connected to the electrode and a synchronous controller connected to the trigger are arranged in the host so as to form an electrical stimulation close-loop control circuit for tracking gait actions of the diseased limb. In the hose, a plurality of timing sequence operation control module arranged in the synchronous controller are nested in each other and inserted in two foot control trigger elements of the trigger by use of a wiring harness, and used for alternatively switching the operations of walking timing sequences and synchronously controlling stimulation pulse sequences output by the stimulator. The stimulator is provided with a low-frequency pulse circuit module and a stimulation pulse power-driven circuit module, the two of which are inserted in four groups of electrodes A, B, C and D by use of a wiring harness to stimulate the actions of the diseased limb. The main controller comprises an operating interface, a memory, a single chip and a control program thereof. The synchronous walking aid is capable of stimulating the diseased limb so that the diseased limb is off the ground to exercise gait actions, and also helping a patient with walking on the ground; the synchronous walking aid can be applied independently to stimulate the diseased limb of one single side, and two aids can be liked to stimulate the diseased limbs of two sides to act alternately and cooperatively.

Description

technical field [0001] The invention belongs to the field of rehabilitation medical equipment, and in particular relates to a functional low-frequency electric stimulation synchronous walking aid therapeutic apparatus based on a walking mode and a control method thereof. Background technique [0002] Functional low-frequency electrical stimulation (FES) assisted walking device includes a stimulator, electrodes, and a trigger. When the stimulator outputs low-frequency pulses, stimulates the affected limb through the electrodes, and induces walking movements, the trigger controls the stimulation current to keep in sync with the movement of the affected limb. . A typical implantable FES walking system is equipped with 24 to 32 electrical stimulation channels and corresponding implanted electrodes, which can accurately stimulate the affected limb to achieve fine gait movements and assist paralyzed patients to stand and walk, but the structure of the implanted system and The use...

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Problems solved by technology

The electrical stimulation process assisted by the multi-channel FES walking aid device for walking on the ground must conform to the walking sequence and must be synchronized with the patient's gait. The problem is that the gait of different patients is very different from the normal walking gait. Complex synchronous control modes such as EEG feedback or EEG feedback do not meet the practical requirements of small FES walking aids, and the trigger mode of ordinary foot switches can only simply detect the step frequency change of the affected limb and adjust the single-channel electrical stimulation. The intermittent time and repetition period cannot meet the control requirements of continuous tracking of the movement process of the affected limb and synchronous regulation of multiple electrical stimulation, which restricts the practical performance and clinical application of the small multi-channel FES walking aid device for assisted walking

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