Speed self-adaptive control method of lower limb rehabilitation training system treadmill based on myoelectricity

Abstract

The invention discloses a speed self-adaptive control method of a lower limb rehabilitation training system treadmill based on myoelectricity. The speed self-adaptive control method comprises the following steps: acquiring a myoelectric signal of a lower limb of a patient in real time by using a myoelectric signal acquirer; after pretreatment of filtration, noise reduction and the like, respectively extracting an amplitude characteristic and an energy characteristic of a related myoelectric signal, and predicting a step period and a step length of movement of the lower limb of the patient in real time by using a step period detection algorithm and a step length estimation algorithm; furthermore, calculating an expected speed of movement of the lower limb of the patient according to the data; meanwhile, acquiring a speed transmission function of the treadmill by using a system recognition method; and finally, with the combination of the speed transmission function of the treadmill, driving the control motor of the treadmill according to a PID speed servo control algorithm, thereby achieving self-adaptive following control on the speed of the treadmill. As the step speed of a human body is predicted according to the myoelectric signal, signals can be conveniently acquired and processed, a patient can control the speed of the treadmill to be coordinated with the speed of the patient in real time according to active movement attention of the patient, active rehabilitation training of the patient can be achieved, and the rehabilitation training velocity can be increased.

Description

technical field [0001] The invention relates to a lower limb rehabilitation training robot system control technology, in particular to a treadmill speed adaptive control method for a lower limb rehabilitation training system under an active rehabilitation training mode. Background technique [0002] In recent years, the number of patients with lower extremity motor dysfunction caused by central nervous system diseases such as spinal injuries and strokes has increased sharply, seriously endangering human health. With the development of society and the improvement of people's medical care and living standards, the health of the disabled has attracted the attention of the whole society. Weight-loss walking training is one of the important means of walking rehabilitation for patients with such diseases, and a large number of clinical studies have confirmed its effectiveness. At present, many researchers at home and abroad are conducting research on rehabilitation training syste...

AI Technical Summary

Problems solved by technology

However, this method has obvious speed regulation when the displacement of the treadmill is large, but not obvious when the displacement is small; it is not conducive to the real-time speed adaptive follow-up control of the treadmill

The above methods do not start from the patient's active movement intention to realize the adaptive follow-up control of the treadmill speed to the patient's active movement

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