Lower limb rehabilitation robot control method and system based on EEG-EMG signals
A rehabilitation robot and myoelectric signal technology, applied in the field of medical rehabilitation training, can solve the problems of unsatisfactory rehabilitation training effect and low accuracy, and achieve better training effect, compact equipment and easy movement
Active Publication Date: 2020-09-01
北京国润健康医学投资有限公司
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[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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[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings, and those skilled in the art can implement the present invention from the content disclosed in this specification.
[0052] Such as figure 1 As shown, the control method of the lower limb rehabilitation robot based on EEG-EMG signal of the present invention includes the following steps:
[0053] Step 1: First, the user has the intention to exercise, and then the physiological signal is collected through the physiological signal acquisition module. The physiological signal acquisition includes the synchronous acquisition of the EEG signal and the EMG signal;
[0054] The physiological signal acquisition module includes EMG acquisition equipment and EEG acquisition equipment. The EMG acquisition equipment is a Noraxon wireless surface EMG test system. The EMG collection electrodes are attached to the muscles of the left and right legs, namely the thighs. Before stickin...
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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 lower limb rehabilitation robot control method and system based on EEG-EMG signals. Background technique [0002] my country is facing an increasingly serious aging problem 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 damage caused by stroke and spinal cord injury. Modern rehabilitation medicine believes that rehabilitation treatment should be carried out as soon as possible after the patient's condition is stable. There are more and more rehabilitation treatment methods, including exercise therapy and occupational therapy. A typical rehabilitati...
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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