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Exoskeleton motor system control method based on uninjured side limb electromyographic signals

An electromyographic signal and control method technology, which is applied in medical science, passive exercise equipment, diagnosis, etc., can solve the problems of difficult adaptive control of exoskeleton motor system parameters, and the response speed is not easy to synchronize, so as to achieve autonomous recovery. , Good active rehabilitation training, reducing the effect of external common mode noise interference

Inactive Publication Date: 2021-04-09
东南数字经济发展研究院
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Problems solved by technology

However, the response speed of the current control system is not easy to synchronize, and it is also difficult to adaptively control the parameters of the exoskeleton motor system

Method used

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  • Exoskeleton motor system control method based on uninjured side limb electromyographic signals
  • Exoskeleton motor system control method based on uninjured side limb electromyographic signals

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Embodiment Construction

[0018] In order to make the content of the present invention more clearly understood, the present invention will be further described in detail below based on specific embodiments and in conjunction with the accompanying drawings.

[0019] Such as Figure 1-2 Shown, a kind of exoskeleton motor system control method based on healthy side limb electromyographic signal, described system comprises voltage follower (IOP1, IOP2), low-pass filter (C1, C2, C3, R8, R9), instrument Amplifier (IOP3), high-pass filter (IOP6, R7, C4) and voltage-current conversion circuit (R2, R3, R4, R5, R6, IOP4, IOP5), and the above components or circuits are connected in series;

[0020] The method comprises the following specific steps:

[0021] 1) Paste the surface detection electrodes on the body surface skin of the relevant muscles, and collect the corresponding EMG signals generated on the muscles related to the movement of the healthy side of the patient;

[0022] 2) Through the signal generati...

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Abstract

The invention relates to an exoskeleton motor system control method based on uninjured side limb electromyographic signals. The exoskeleton motor system control method comprises the following specific steps of 1) attaching a surface detection electrode to the body surface skin of related muscles, and collecting corresponding electromyographic signals generated on the uninjured side limb movement related muscles of a patient; 2) adopting a signal generation system, enabling the signal generation system to be integrated with a signal amplification circuit, a filter circuit and a voltage-current conversion circuit, and converting the electromyographic signals acquired in the step 1) into pulse sequence waveforms for driving an exoskeleton motor system; and (3) inputting a pulse sequence signal obtained in the step (2) into a related motor by a controlled hemiplegic limb through the exoskeleton motor system, and controlling the exoskeleton to drive the hemiplegic limb to move in a PWM form. The control method has the advantages that compared with a mode recognition algorithm, the exoskeleton motor system controlled by a signal generation system has relatively high real-time performance, the movement function of the uninjured side limb of the hemiplegic patient is fully utilized, and autonomous recovery is achieved.

Description

technical field [0001] The invention relates to the field of bone rehabilitation, in particular to a method for controlling an exoskeleton motor system based on the myoelectric signal of a healthy limb. Background technique [0002] Hemiplegic patients will bring a heavy burden to themselves and their families due to the loss of motor function of the hemiplegic side of the limb. The reconstruction of the motor function of the hemiplegic side of the limb has always been a hot topic in medical research. As an emerging rehabilitation technology, exoskeleton has been widely used in rehabilitation training, such as the Lokomat system of Switzerland's Hocoma company and the lower limb exoskeleton products of Israel's ReWalk company. However, these systems can only provide a passive rehabilitation mode, and cannot make good use of the healthy limb for active rehabilitation training. For patients with hemiplegia, the muscles and nerve fibers of the healthy limb are active and can p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/0274A61H2201/1207A61H2230/085
Inventor 陈轶张文牛少彰崔浩亮王让定
Owner 东南数字经济发展研究院
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