Walker aid robot system based on brain-machine-muscle information loop

Abstract

The invention discloses a walker aid robot system based on a brain-machine-muscle information loop. The system is characterized in that a computer processes electroencephalogram data and electromyography data in real time and acquires a motion intention of a user by analyzing motion-related characters in the electroencephalogram data and the electromyography data; the computer obtains motion intention information and motion state information of the user, then feeds the information into a hybrid walker aid driving model, and outputs two control parameters for respectively controlling a neuromuscular electrical stimulator and robotic exoskeleton; the first control parameter is used for controlling the neuromuscular electrical stimulator to apply electrical stimulation to the striding side with the motion intention to further drive the intention side to produce a striding action; the second control parameter is used for controlling the robotic exoskeleton to adjust a gravity center angleand further maintain the converting balance between standing and walking; the computer optimizes and cooperates a loop model consisting of a brain-machine information interaction module, a machine-muscle information interaction module and a brain-muscle information interaction module by taking neuroplasticity as an index, so as to establish the walker aid robot system with a high-compactness brain-machine-muscle information loop model.

Description

Technical field [0001] The invention relates to the field of neuroengineering and rehabilitation, in particular to a walking assistance robot system based on a brain-machine-muscle information loop. Background technique [0002] The plastic change of the brain is the most essential factor in the rehabilitation of patients with motor dysfunction. The correct use of the plastic change of the central nervous system is particularly important for predicting and accelerating the rehabilitation process. Central nervous system plasticity means that the brain is affected by changes in behavior, environment, and emotions, especially neural pathways and physical damage, resulting in a series of changes in neural pathways or synaptic connections. Central nervous system plasticity occurs at many different levels, from changes in neuron cell size due to learning to large-scale remapping of cortical networks triggered by injury. The role of central nervous system plasticity in healthy developm...

AI Technical Summary

Problems solved by technology

[0005] The invention provides a walking aid robot system based on the brain-machine-muscle information loop. The invention solves the bottleneck of the single form of traditional rehabilitation training and the inability to complete active rehabilitation training, and pays attention to the potential of inducing plastic changes in the central nervous enhancement

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