Functional electrostimulation closed-loop control system and method of electromyographic signal feedback

Abstract

The invention discloses a functional electrostimulation closed-loop control system and method of electromyographic signal feedback. First of all, after a functional electrical stimulator finishes initialization and signal synchronization, electrostimulation begins to be carried out on a controlled object; an electromyographic signal gatherer acquires original electromyographic signals generated during electrostimulation of muscle, and preprocessing is carried out; then a muscle contraction and expansion model is established by use of a Hammersetein model containing a time lag item, and parameter identification is performed by use of a Kalman filtering mode; and finally, online real-time prediction is carried out on the muscle contraction and expansion model, an optimal control amount of an electric pulse width is calculated and fed back to the functional electrical stimulator, and parameter updating is carried out on the functional electrical stimulator so that real-time self-adaptive control is realized. According to the invention, through calculating the absolute average amplitude of the electromyographic signals of the controlled object, closed-loop control adjustment of the pulse number of the electrostimulation is completed; and the control precision of the closed-loop functional electrostimulation system is improved, and functional electrostimulation self-adaptive control of the electromyographic signal feedback is realized.

Description

technical field [0001] The present invention relates to the field of functional electrical stimulation, in particular to A functional electrical stimulation closed-loop control system and method for electromyographic signal feedback . Background technique [0002] Most of the current commercial and clinical functional electrical stimulation control systems are designed using the open-loop control system method, and the EMG signal is not introduced as feedback to update the model and controller of the controlled body. The current popular open-loop control system often lacks the ability of self-adaptive adjustment, and cannot accurately complete the target muscle contraction control task and cannot realize the corresponding rehabilitation control plan. The specific defects are as follows. [0003] 1. Lack of feedback information of electromyographic signals to adaptively adjust the modeling of the controller and the controlled object, and the identification error of the contr...

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Problems solved by technology

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art, to provide a functional electrical stimulation closed-loop control system and method for myoelectric signal feedback, by calculating the stimulated muscle The absolute average amplitude of the myoelectric signal is completed to complete the closed-loop control adjustment of the number of electrical stimulation pulses; the electrical stimulation pulse number-absolute average amplitude model of the myoelectricity is established, and the muscle model is based on the Hammerstein structure with a delay term; improved At present, the control accuracy of the closed-loop functional electrical stimulation system solves the problem of insufficient adaptive capacity of its control system parameters, and realizes the adaptive control of functional electrical stimulation with EMG signal feedback

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