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Functional electrical stimulation system and method for regulating and controlling joint torque and rigidity

A technology of functional electrical stimulation and joint torque, applied in electrotherapy, artificial respiration, physical therapy, etc., can solve problems such as inability to control joint stiffness and insufficient stability

Pending Publication Date: 2021-07-30
SUN YAT SEN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a functional electrical stimulation system and method for regulating joint torque and stiffness in order to overcome the technical defects of being unable to regulate the joint stiffness and insufficient stability in the application process of the existing functional electrical stimulation technology

Method used

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  • Functional electrical stimulation system and method for regulating and controlling joint torque and rigidity
  • Functional electrical stimulation system and method for regulating and controlling joint torque and rigidity
  • Functional electrical stimulation system and method for regulating and controlling joint torque and rigidity

Examples

Experimental program
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Effect test

Embodiment 1

[0093] like figure 1 As shown, the present invention provides a functional electrical stimulation system for regulating joint torque and stiffness, which can generate desired torque and stiffness by electrically stimulating a pair of agonist muscles and antagonist muscles. The following is a specific experiment to verify the feasibility of the functional electrical stimulation system for regulating joint torque and stiffness provided by the embodiment of the present invention, specifically: including a control module, an electrical stimulator module, and a data acquisition module; wherein:

[0094]The control module is used to send strength signals to the electric stimulator module in real time, including a prediction model of joint torque and stiffness, used to generate a mapping table of joint torque and stiffness and agonist muscle and antagonistic muscle electrical stimulation intensity, and Including an interpolation lookup table algorithm to find the electrical stimulati...

Embodiment 2

[0108] More specifically, on the basis of Example 1, such as image 3 As shown, a functional electrical stimulation method for regulating joint torque and stiffness is provided, comprising the following steps:

[0109] S1: Calculate the electrical stimulation intensity through the stimulation current intensity-to-muscle excitability mapping model to obtain muscle excitability;

[0110] S2: According to the myoelectricity and angle signals collected by the data acquisition module, the musculoskeletal geometric model is used for calculation to obtain the muscle tendon length and muscle moment arm;

[0111] S3: Import the muscle excitability and muscle tendon length into the muscle strength model as input, and calculate the muscle force;

[0112] S4: According to the muscle arm and muscle force, calculate through the joint model to obtain the joint torque and joint stiffness;

[0113] S5: Perform linear regression analysis on the obtained joint torque and joint stiffness and th...

Embodiment 3

[0168] More specifically, a muscle of a subject varies in electrical stimulation intensity as Figure 5 Under the stimulation signal of the triangle wave of the "input signal", it can cause the joint to produce such as Figure 5 The joint moments and stiffnesses of the "Output Moments and Stiffnesses". For the case of electrical stimulation of tibialis anterior muscle and gastrocnemius at the same time, the relationship between electrical stimulation intensity and joint torque is as follows: Image 6 As shown, the relationship between electrical stimulation intensity and joint stiffness is as follows Figure 7 shown.

[0169] Calibrate the stiffness and moment prediction model through the muscle maximum voluntary contraction test experiment, and obtain the personalized parameter l st and F mt . In the maximum voluntary contraction force test, the torque, angle and EMG signals of the joints are collected and processed by filtering; the preprocessed angle and EMG signals ar...

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Abstract

The invention provides a functional electrical stimulation system and method for regulating and controlling joint torque and rigidity. The functional electrical stimulation system comprises a control module for sending an intensity signal to an electrical stimulator, an electrical stimulator module for generating electrical stimulation pulse current and a data acquisition module for acquiring mechanical, myoelectric and position signals. The data acquisition module transmits mechanical and position signals to the control module, the control module establishes a mapping table of joint torque and rigidity and electrical stimulation intensity of active muscles and antagonistic muscles, and the electrical stimulation intensity of two or more muscles required for generating the joint torque and rigidity is calculated through an interpolation look-up table method. The electrical stimulator module adjusts the amplitude or the pulse width of electrical stimulation pulses according to the required stimulation intensity, so that the torque and the rigidity of the joint are regulated and controlled.

Description

technical field [0001] The present invention relates to the technical field of functional electrical stimulation (FES), and more specifically, to a functional electrical stimulation system and method for regulating joint torque and stiffness. Background technique [0002] In recent years, the development of functional electrical stimulation technology has received more and more attention. It uses external current to make nerve cells generate a nerve impulse that is exactly the same as the action potential caused by natural excitation, so that the muscle fibers it dominates generate Contraction to obtain the effect of movement. In order to obtain the desired joint motion and minimize the impact of fatigue in rehabilitation training, it is necessary to design and implement a functional electrical stimulation adaptive control system to generate appropriate and stable muscle force and corresponding joint torque. In the functional electrical stimulation adaptive control system, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61N1/36
CPCA61N1/36003A61N1/3603A61N1/36031
Inventor 宋嵘李英颀
Owner SUN YAT SEN UNIV
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