Functional Electrical Stimulation Sports Rehabilitation System and Method Fusion of Artificial and Autonomic Control

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 system complexity

Active Publication Date: 2018-03-23
SHANGHAI JIAOTONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The patent has the following technical problems: 1. No muscle feedforward controller is added; 2. Unable to integrate the subject's voluntary movement consciousness

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  • Functional Electrical Stimulation Sports Rehabilitation System and Method Fusion of Artificial and Autonomic Control

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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 present invention discloses a functional electrical stimulation exercise rehabilitation system and method that integrates manual and autonomous control, mainly consisting of a closed-loop control system composed of three modules: a feedforward controller, a PID feedback controller and an impedance controller, wherein the feedforward The controller generates a functional electrical stimulation intensity in time according to the set joint angle to ensure the response speed of the control system; the PID feedback controller ensures the anti-interference ability of the system; the impedance controller obtains a joint angle according to the subject's autonomous force, Added to the previously set joint angle to realize the synergistic work of autonomous force and functional electrical stimulation. Through this control mode, the present invention can integrate the subject's voluntary movement consciousness into rehabilitation training, and realize precise movement training. The invention is practical and can improve the rehabilitation effect of the existing functional electrical stimulation.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61N1/36A63B24/00G06N3/02G06N3/12
Inventor 张定国桂凯朱向阳
Owner SHANGHAI JIAOTONG UNIV
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