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

A rehabilitation robot and electromyographic signal technology, applied in the field of medical rehabilitation training, can solve problems such as low accuracy and unsatisfactory rehabilitation training effect, and achieve the effects of compact equipment, better training effect and low cost.

Active Publication Date: 2019-09-17
北京国润健康医学投资有限公司
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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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  • Lower limb rehabilitation robot control method and system based on electroencephalogram-myoelectricity signals
  • Lower limb rehabilitation robot control method and system based on electroencephalogram-myoelectricity signals
  • Lower limb rehabilitation robot control method and system based on electroencephalogram-myoelectricity signals

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[0051] The present invention will be described in further detail below in conjunction with the accompanying drawings, and those skilled in the art can realize the present invention from the contents disclosed in this specification.

[0052] Such as figure 1 As shown, the present invention is based on EEG-EMG signal lower limb rehabilitation robot control method, comprising the following steps:

[0053] Step 1: First, the user has an exercise intention, and then collects physiological signals through the physiological signal acquisition module. The physiological signal acquisition includes synchronous acquisition of EEG signals and EMG signals;

[0054] The physiological signal acquisition module includes EMG acquisition equipment and EEG acquisition equipment. The EMG acquisition equipment is the Noraxon wireless surface EMG test system. The EMG acquisition electrodes are respectively attached to the muscles of the left and right legs, that is, the quadriceps of the thighs. F...

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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...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00A61H3/00
CPCA61H3/00B25J11/00
Inventor 丛曰声丁立
Owner 北京国润健康医学投资有限公司
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