Wrist rehabilitation training system based on muscle coordination and variable stiffness impedance control

Abstract

The invention discloses a wrist rehabilitation training system based on muscle coordination and variable stiffness impedance control. The wrist rehabilitation training system comprises the following modules: an electromyographic signal acquisition and preprocessing module, a muscle coordination decomposition and mapping model acquisition module, a man-machine interaction control module and a virtual reality severe game module. The system collects a user forearm surface electromyographic signal, obtains time domain cooperation by using a non-negative matrix factorization method, establishes a position and rigidity estimation model, and controls movement of a target in a severe game in a variable rigidity impedance control mode to complete a training task. According to the system, the accuracy of estimation from an electromyographic signal to a joint angle is improved by using muscle collaborative decomposition and a multi-layer perception model; by using a variable impedance control strategy, a user can adjust activation of wrist muscles according to environmental interference, so that the wrist rigidity is changed; the enthusiasm of the user in participating in rehabilitation training is improved by using a severe game, and the efficiency of rehabilitation training is improved.

Description

technical field [0001] The invention belongs to the fields of rehabilitation training and sports learning, and in particular relates to a wrist rehabilitation training system based on muscle coordination and variable stiffness impedance control. Background technique [0002] Stroke is an acute cerebrovascular disease that is caused by sudden rupture or blockage of blood vessels in the brain, resulting in the inability of blood to flow into the brain, resulting in brain tissue damage. The "China Stroke Prevention and Control Report 2019" outlines that stroke is a major chronic disease that seriously endangers the health of Chinese nationals. Stroke has a high incidence and disability rate, among which 70%-80% of the patients will have hemiplegia symptoms, which makes the patients lose the ability of independent activities of daily living, seriously affects the patients' living standards, and may also cause various physiological symptoms. Physical and mental illness, even lif...

AI Technical Summary

Problems solved by technology

At present, passive rehabilitation training is mostly used, and the robot drives the patient to complete the preset trajectory, which cannot give full play to the initiative and enthusiasm of the patient.

In addition, most rehabilitation training only focuses on the recovery of the wrist movement of the patient's hand, but does not pay attention to the recovery of hand muscle strength

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