A method for control stiffness of ankle rehabilitation equipment using sEMG

Abstract

The invention relates to a method for controlling the rigidity of ankle joint rehabilitation equipment by using sEMG, which collects sEMG signals of tibialis anterior muscle and gastrocnemius muscle.A filter is used to filter the collected sEMG signal. The eigenvalue of the filtered sEMG signal is extracted and the eigenvector is formed. Using LDA algorithm to classify the ankle movements, different ankle movements can be obtained. According to the results of classification, the corresponding neural network is selected and the corresponding muscle activity is obtained to estimate the joint torque. The model of ankle joint torque and ankle joint stiffness is established to estimate ankle joint stiffness and control ankle joint stiffness. The method can meet the requirements of safety, comfort and anti-interference of the wearable ankle joint equipment of the patient. Moreover, for patients with different rehabilitation conditions, it is not necessary to retrain the neural network model, only need to modify individual model parameters, the method is simple and efficient.

Description

technical field [0001] The invention relates to the field of biological signal identification technology and medical rehabilitation training robot, in particular to a control method for controlling the stiffness of ankle joint rehabilitation equipment by using sEMG. Background technique [0002] Rehabilitation robot is an important branch of medical robot. Its research runs through many fields such as rehabilitation medicine, biomechanics, mechanics, mechanics, electronics, materials science, computer science and robotics. It has become an international robotics field. Research hotspots. [0003] The control method of rehabilitation robots based on electromyographic signals (sEMG) has become one of the important methods of human-computer interaction. It has the characteristics of real-time, convenience, and non-invasiveness, and is more suitable for rehabilitation fields such as helping the elderly and the disabled. Widespread concern. [0004] The causes of ankle dysfunct...

AI Technical Summary

Problems solved by technology

If the treatment of ankle joint sports injuries is not timely or thorough, it will easily lead to excessive relaxation of ankle ligaments, joint instability, easy to cause repeated sprains, resulting in sequelae such as ankle joint dysfunction, which will seriously affect walking function

At present, many ankle joint rehabilitation treatments still rely on rehabilitation physiotherapists, but with the decline of the demographic dividend, the number of rehabilitation physiotherapists is far from meeting the rehabilitation medical needs of patients. Therefore, ankle joint rehabilitation medical robots have been sought after by researchers. The successful application of it will also revolutionize the field of rehabilitation medicine for patients

However, many of the current ankle rehabilitation robots based on electromyographic signals (sEMG) cannot make patients feel comfortable, safe, and anti-interference in the actual rehabilitation medical process, and they rarely meet Patient needs in different rehabilitation situations

Images