Artificial and autonomous control fused functional electrical stimulation exercise rehabilitation system and method

A functional electrical stimulation and autonomous control technology, applied in the field of rehabilitation systems, can solve problems such as the inability to integrate the subject's autonomous movement consciousness, and achieve the effect of reducing the complexity of the system

Active Publication Date: 2015-10-14
SHANGHAI JIAO TONG UNIV
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  • Abstract
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Problems solved by technology

The patent has the following technical problems: 1. No muscle feedforward controll

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  • Artificial and autonomous control fused functional electrical stimulation exercise rehabilitation system and method

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Embodiment Construction

[0029] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0030] The functional electrical stimulation exercise rehabilitation system that combines manual control and autonomous control provided by the present invention, figure 1 The overall implementation block diagram shown includes: feedforward controller 1, PID feedback controller 2, myoelectric signal tail removal filter module 3, impedance controller 4, delay module 5, functional electrical stimulation module 6 and autonomous control module 7 ,one of them Indicates the preset movement angle curve...

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Abstract

The invention discloses an artificial and autonomous control fused functional electrical stimulation exercise rehabilitation system and method. The system is mainly composed of a closed loop control system formed by three modules of a feedforward controller, a PID feedback controller and an impedance controller. A functional electrical stimulation intensity is timely generated by the feedforward controller according to a set joint angle so as to ensure response speed of the control system; the PID feedback controller ensures anti-interference capacity of the system; and the impedance controller obtains a joint angle according to autonomous force of a subject and the joint angle is added to the originally set joint angle so as to realize collaborative work of autonomous force and functional electrical stimulation. With application of the control mode, autonomous movement awareness of the subject can be fused in rehabilitation training so as to realize precision movement training. The artificial and autonomous control fused functional electrical stimulation exercise rehabilitation system and method are practicable so that the rehabilitation effect of existing functional electrical stimulation can be enhanced.

Description

technical field [0001] The invention relates to a rehabilitation system, in particular to a functional electric stimulation exercise rehabilitation system which combines manual control and autonomous control. Background technique [0002] In the late 1960s, functional electrical stimulation, as an emerging rehabilitation technology, was widely used in medical and rehabilitation fields. At present, there are many mature commercialized functional electrical stimulators, such as MotionStim from Germany and Compex from Spain. Functional electrical stimulation stimulates muscle contraction with electrical impulses to help a person with motor loss produce a predetermined motor function. However, due to the nonlinearity and time-varying of the musculoskeletal system, the control algorithm is very complicated, and the fatigue of the muscles greatly limits the application of functional electrical stimulation. [0003] Currently, electrical stimulation therapy ignores the patient's ...

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Application Information

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IPC IPC(8): A61N1/36A63B24/00G06N3/02G06N3/12
Inventor 张定国桂凯朱向阳
Owner SHANGHAI JIAO TONG UNIV
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