Speed self-adaptive control method of lower limb rehabilitation training system treadmill based on myoelectricity
A technology of adaptive control and rehabilitation training, which is applied in the direction of adjusting coordination training equipment, cardiovascular system training equipment, gymnastic equipment, etc. Obvious problems such as speed regulation, to avoid the inconvenience of installation and use, save costs, and overcome constraints
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[0044] see figure 1 and Figure 4The present invention is based on the electromyography-based lower limb rehabilitation training system treadmill speed adaptive control method: the surface electromyography signal related to the gait motion of the patient's lower limbs is collected in real time through the electromyography signal acquisition instrument, and subjected to preprocessing such as amplification, filtering, noise reduction, etc. Then, the amplitude feature and energy feature of the relevant EMG signals were extracted by time domain analysis, and the gait cycle and step length of the patient’s lower limb movement were predicted in real time through the gait cycle detection algorithm and the step length estimation algorithm; The expected speed of the active movement of the patient's lower limbs generates the desired speed command signal for controlling the treadmill; at the same time, the system identification method is used to obtain the speed transfer function model o...
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