Lower limb rehabilitation robot control method and system based on electroencephalogram-myoelectricity signals

Abstract

The invention relates to a lower limb rehabilitation robot control method and a lower limb rehabilitation robot control system based on electroencephalogram-myoelectricity signals. The lower limb rehabilitation robot control method based on the electroencephalogram-myoelectricity signals includes following steps: a, according to specific motion intention of a user, synchronously collecting corresponding electroencephalogram signals and corresponding myoelectricity signals; b, preprocessing the collected signals, and removing noise; c, extracting features of the myoelectricity signals, and establishing a motion model based on the myoelectricity signals; d, performing coherence analysis on the myoelectricity signals and the electroencephalogram signals, and building an electroencephalogram-myoelectricity classifier model; e, in rehabilitation training, collecting the electroencephalogram signals and the myoelectricity signals of the user in real time, inputting the electroencephalogram signals and the myoelectricity signals into the electroencephalogram-myoelectricity classifier model, outputting a classification result of the motion intention, and meanwhile using the motion model for verification. The lower limb rehabilitation robot control method and the lower limb rehabilitation robot control system based on the electroencephalogram-myoelectricity signals adopt the electroencephalogram-myoelectricity coherence analysis for performing clarification of lower limb motions, and meanwhile perform a contrast test on the classification result and a result of the mechanical motion model, and enhances accuracy of the classification result.

Description

technical field [0001] The invention relates to the technical field of medical rehabilitation training, in particular to a control method and system for a lower limb rehabilitation robot based on EEG-EMG signals. Background technique [0002] my country is facing the increasingly serious problem of aging and a large number of disabled people. The research, development and application of rehabilitation robots and intelligent assistance systems are expected to provide some technical means for solving the problems of elderly care, disability assistance and rehabilitation. The research and application of rehabilitation robots are mostly aimed at patients with nerve injuries caused by stroke, spinal cord injury, etc. Modern rehabilitation medicine believes that rehabilitation should be carried out as soon as possible after the patient's condition is stable, and rehabilitation methods are increasingly abundant, exercise therapy and occupational therapy are among them. It is a typi...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a lower limb rehabilitation robot control method and system based on EEG-EMG signals to solve the problems of low accuracy of existing control methods and unsatisfactory rehabilitation training effects

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