Conditional feedback control method of upper limb rehabilitation system based on functional electrical stimulation

Abstract

The invention provides a conditional feedback control method of an upper limb rehabilitation system based on functional electrical stimulation, which is based on an established upper limb muscle modelcomposed of an equal-length recruitment curve and a linear activation dynamic state. Through a designed feed-forward controller with an expected dynamic equation and a feed-forward compensator and afeedback controller composed of a proportional-integral-differential controller, an input signal of the nonlinear compensator is obtained by calculation; and through the obtained input signal of the non-linear compensator and the designed non-linear compensator, the control quantity of the upper limb muscle model is obtained by calculation, and the change of an executing mechanism is adjusted in real time through the obtained control quantity of the upper limb muscle model. The method has the advantages of relatively high robustness, relatively high tracking performance, relatively high anti-interference performance and the like, and has a very practical actual application prospect.

Description

technical field [0001] The invention relates to the technical field of auxiliary medical rehabilitation, in particular to a conditional feedback control method of a functional electrical stimulation upper limb rehabilitation system. Background technique [0002] According to the latest Global burden of disease study (GBD) data, the lifetime risk of stroke among Chinese citizens is 39.9%, ranking first in the world, which means that 2 out of every 5 people will suffer from Suffered from stroke all his life. In 2019, there were more than two million stroke patients in my country, and many of them who were successfully rescued would have varying degrees of disability and sequelae. Due to poor rehabilitation training, many patients are at risk of muscle atrophy. In order to reduce this risk and alleviate the sequelae of stroke, the functional electrical stimulation (Functional electrical stimulation, FES) technology has attracted more and more medical researchers because of it...

AI Technical Summary

Problems solved by technology

However, the problem with related technologies is that the neuromuscular dynamic model has control difficulties such as strong nonlinearity, multi-source disturbances, inaccurate models, and large deviations in dynamic models of different patients, which increases the difficulty of designing control strategies.

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