Functional electrical stimulation rehabilitation training method and device with adaptive regulation

Abstract

The present invention relates to the field of human bioelectric signal measurement, and in particular to a self-adaptive functional electrical stimulation rehabilitation training method and device, the self-adaptive functional electrical stimulation rehabilitation training method comprising the following steps: obtaining joint parameters and target angles; constructing a world coordinate system, the origin of the world coordinate system is represented as a joint end; constructing a dynamic coordinate system, the origin of the dynamic coordinate system is represented as the joint end, the dynamic coordinate system is obtained by translating the world coordinate system or the previous dynamic coordinate system along the coordinate axis, and the joint rotation center is used as a stationary point in the dynamic coordinate system; calculating the coordinates of the stationary point in the dynamic coordinate system in the world coordinate system; constructing a vector through the stationary point, and calculating the vector angle; calculating the difference between the target angle and the actual rotation angle, and calculating the electrical stimulation intensity required for further rotation of the joint by using the difference through a control algorithm; outputting electrical stimulation. The present invention has the effect of enabling patients to better participate in treatment and improve rehabilitation effects.

Description

Technical Field

[0001] The invention relates to the field of human bioelectric signal measurement, and in particular to a self-adaptively regulated functional electrical stimulation rehabilitation training method and device. Background Art

[0002] Electrical stimulation rehabilitation training is used to treat hemiplegia, such as foot drop, to delay muscle atrophy caused by muscle disuse and promote the body's recovery speed.

[0003] The electrical stimulation rehabilitation training devices currently on the market require doctors to manually set working parameters. The patient's muscles are passively contracted and relaxed under the action of functional electrical stimulation. The adjustment of electrical stimulation parameters and intensity completely depends on the doctor's experience and judgment, and generally does not achieve precise control of limb movement. This results in patients experiencing a repetitive, mechanical electrical stimulation process, resulting in poor treatment results. Summary of the invention

[0004] In order to enable patients to better participate in treatment and improve rehabilitation effects, the present invention provides an adaptively adjustable functional electrical stimulation rehabilitation training method and device.

[0005] The present invention provides an adaptively regulated functional electrical stimulation rehabilitation training method, which adopts the following technical solution:

[0006] A self-adaptive functional electrical stimulation rehabilitation training method comprises the following steps:

[0007] Get joint parameters and target angles;

[0008] Construct a world coordinate system, where the origin of the world coordinate system is represented as the end of a joint;

[0009] Construct a dynamic coordinate system, the origin of which is represented by the end of the joint. The dynamic coordinate system is obtained by translating the world coordinate system or the previous dynamic coordinate system along the coordinate axis, and the joint rotation center is used as the stationary point in the dynamic coordinate system;

[0010] Calculate the coordinates of the stationary point in the dynamic coordinate system in the world coordinate system;

[0011] Construct vectors through stationary points and calculate vector angles;

[0012] The actual rotation angle of each joint is calculated from the vector angle, and the difference between the target angle and the actual rotation angle is calculated through the control algorithm to use the difference to calculate the electrical stimulation intensity required for further rotation of the joint;

[0013] Output electrical stimulation.

[0014] In a specific implementation scheme, the control algorithm is specifically PID control.

[0015] In a specific possible implementation scheme, the dynamic coordinate system is a sub-coordinate system of the world coordinate system or the previous dynamic coordinate system; when the dynamic coordinate system rotates, the coordinates of the origin of the dynamic coordinate system in the previous dynamic coordinate system or the world coordinate system remain unchanged.

[0016] In a specific implementation method, the method for calculating the coordinates of the stationary point in the world coordinate system includes the following steps:

[0017] Get Euler angle data;

[0018] Initially, the world coordinate system coincides with the first dynamic coordinate system;

[0019] Construct a rotation matrix based on the Euler angle data, and use the rotation matrix to calculate the coordinates of the stationary point in the world coordinate system.

[0020] In a specific possible implementation scheme, there are at least three dynamic coordinate systems, and the position of the stationary point in the previous dynamic coordinate system is calculated, and a loop is performed until the position of the stationary point in the world coordinate system is calculated.

[0021] In a specific implementation scheme, the rotation matrix is ​​specifically:

[0022] ,

[0023] in, Indicates The rotation matrix that transforms the coordinates in the dynamic coordinate system into the coordinates in the world coordinate system, is the heading angle, is the pitch angle, is the roll angle.

[0024] In a specific implementation scheme, the coordinates of the stationary point are calculated as follows:

[0025]

[0026] in, Indicates The coordinates of a stationary point in the world coordinate system, , Indicates the distance between two adjacent dynamic coordinate systems.

[0027] In a specific implementation scheme, the calculation formula of the vector angle is:

[0028]

[0029] in, The angle between the vectors at the joint, is the vector at the joint.

[0030] The present invention also provides a self-adaptive functional electrical stimulation rehabilitation training device, which adopts the following technical solution:

[0031] An adaptively adjustable electrical stimulation rehabilitation training device includes an inertial sensor to measure the Euler angle of joint rotation;

[0032] an electrical stimulator, outputting electrical stimulation;

[0033] A host computer having one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the adaptively adjusted electrical stimulation rehabilitation training device to perform the adaptively adjusted functional electrical stimulation rehabilitation training method;

[0034] The controller obtains the data output by the host computer and sends a control signal to the electrical stimulator.

[0035] In summary, the present invention includes at least one of the following beneficial technical effects:

[0036] 1. The patient needs to actively move the joints first. After the patient moves, the electrical stimulator cooperates with the patient to complete the movement, realizing personalized functional electrical stimulation rehabilitation training, which can enhance the patient's initiative during the treatment process and improve the treatment effect.

[0037] 2. By actively participating in rehabilitation training, patients can strengthen their muscle control and coordination. Active participation in training can activate the central nervous system, strengthen neuromuscular connections, and thus improve muscle motor function. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a flow chart of the adaptively regulated functional electrical stimulation rehabilitation training method.

[0039] Figure 2 It is a schematic diagram that shows how the coordinate system is constructed. DETAILED DESCRIPTION

[0040] The following is combined with Figure 1-2 The present invention is described in further detail.

[0041] Reference Figure 1 For ease of understanding, the following uses the arm as an example to illustrate that the adaptively adjusted functional electrical stimulation rehabilitation training method includes the following steps:

[0042] S100, obtaining joint parameters and target angles.

[0043] Get the pre-measured lengths of the upper arm, forearm, and palm , and , as well as the target angles of wrist and elbow rotation during arm movements.

[0044] S200, constructing a world coordinate system and a dynamic coordinate system.

[0045] Constructing the world coordinate system at the shoulder joint , dynamic coordinate systems are constructed in the shoulder joint, elbow joint and wrist respectively , and . , , and All are three-dimensional coordinate systems. Depend on Translate along the positive direction of the x-axis to obtain: The positive direction of the x-axis is from the arm to the palm. Similarly, , and The positive direction of the x-axis is from the arm to the palm. Depend on Translate along the positive direction of the x-axis to obtain: Depend on It is obtained by translating along the positive direction of the x-axis. Thus, we can get for The sub-coordinate system of The transformation will not affect , The transformation will affect , similarly for The sub-coordinates of for The sub-coordinate system of .

[0046] Coordinate system By coordinate system It is obtained by translating along the positive direction of its x-axis, and for The sub-coordinate system of It should be noted that the construction of the sub-coordinate system is not necessarily along the positive direction of the x-axis, and it is not necessarily along the x-axis, it can be along the y-axis or z-axis, and the direction can be positive or negative.

[0047] Defining stationary points in a dynamic coordinate system , , and , the stationary point is the rotation center of the joint or the end of the joint, that is is the rotation center of the shoulder joint, is the rotation center of the elbow joint, is the rotation center of the wrist, is the end of the palm. Furthermore, the coordinates of the stationary point remain unchanged with respect to the dynamic coordinate system, that is, when the dynamic coordinate system rotates or translates, the coordinates of the stationary point in the corresponding dynamic coordinate system remain unchanged. Since the dynamic coordinate system is built on the shoulder joint, elbow joint and wrist, the origin of the dynamic coordinate system is the rotation center of the joint, that is The origin is the rotation center of the shoulder joint and is coincide, for the still point within; The origin is the rotation center of the elbow joint and is coincide, for the still point within; The origin is the rotation center of the wrist and is coincide, and Both The still point within.

[0048] S300, calculating the coordinates of the stationary point in the dynamic coordinate system in the world coordinate system.

[0049] Determine the initial state as the world coordinate system With dynamic coordinate system Coincident, and three dynamic coordinate systems , and The x-axes of the coordinate system are all on the same straight line. The coordinates in are defined as , specifically The stationary point is coordinates in a dynamic coordinate system, ,when When , it means that the stationary point is in the world coordinate system The coordinates in .

[0050] Dynamic coordinate systems are all derived from the world coordinate system The transformation includes translation and rotation. The rotation matrix can be constructed by obtaining the Euler angles sent by the inertial sensor detection. , Represents a dynamic coordinate system To dynamic coordinate system The rotation matrix of If the dynamic coordinate system Rotation occurs, and the stationary point can be calculated through the rotation matrix In the world coordinate system Coordinates in . The Euler angle includes the heading angle , pitch angle and roll angle , Indicates The pitch angle detected by the inertial sensor. The inertial sensor corresponds to the number of joints, so , and in order to facilitate data correspondence, the inertial sensor is set corresponding to the dynamic coordinate system, that is, hour, , , the first inertial sensor corresponds to the dynamic coordinate system .

[0051] Since the initial state dynamic coordinate system With the world coordinate system coincide, Dynamic coordinate system The origin of the arm, and since the arm swing can only rotate, The coordinates of are (0,0). In the world coordinate system Central coordinates It is obtained by the following formula:

[0052]

[0053] Calculate the stationary point When the dynamic coordinate system Relative to the world coordinate system There is not only rotation, but also translation, which inertial sensors cannot detect, so the stationary point cannot be directly calculated In the world coordinate system Coordinates in . You need to calculate the stationary point first In the dynamic coordinate system Coordinates in , and then through calculate The specific calculation process is as follows:

[0054]

[0055] Due to the stationary point Dynamic coordinate system Origin, and dynamic coordinate system By dynamic coordinate system The translation is obtained, so the stationary point In the dynamic coordinate system Coordinates in Known, we need to find the dynamic coordinate system With dynamic coordinate system The rotation matrix between The rotation matrix It cannot be directly constructed from the Euler angles measured by the inertial sensor, but can be constructed from the rotation matrix and the rotation matrix Calculated.

[0056] Depend on Get the dynamic coordinate system To dynamic coordinate system The rotation matrix , we can further obtain:

[0057]

[0058] Finally we get:

[0059]

[0060] Still Point With still point Similarly, since the stationary point cannot be directly calculated In the world coordinate system The coordinates in , so first find the stationary point In the dynamic coordinate system Coordinates in , and then calculate In the dynamic coordinate system Coordinates in , and finally obtain In the world coordinate system Coordinates in .

[0061] Depend on Get the dynamic coordinate system To dynamic coordinate system The rotation matrix , we can further obtain:

[0062]

[0063]

[0064]

[0065]

[0066]

[0067]

[0068] When there is Still Point ,have When a dynamic coordinate system is and are all positive integers, Dynamic coordinate system and world coordinate system The rotation matrix between is:

[0069] ;

[0070] No. Still Point In the world coordinate system Coordinates in The calculation formula is:

[0071] .

[0072] S400, constructing a vector through the stationary point and calculating the vector angle.

[0073] According to the obtained stationary point in the world coordinate system Coordinates in , , and Constructing vectors , , and , and then use the vector angle formula to calculate the angle between the vectors, which is the angle of the joint. The specific calculation process is as follows:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079]

[0080] In the above formula, It is the angle between the upper arm and the forearm, which is also the angle of the elbow joint; It is the angle between the palm and forearm, which is also the angle of the wrist.

[0081] S500, calculating the actual rotation angle of the arm, calculating the electrical stimulation intensity, and outputting electrical stimulation.

[0082] According to the vector angle calculated in step S400, the actual rotation angle of the arm is calculated. The difference between the target angle obtained in step S100 and the actual rotation angle is calculated, and the intensity of the electrical stimulation to be output is calculated by the difference, and an electrical signal containing the electrical stimulation intensity is output. After the electrical stimulator obtains the electrical signal, an electrical stimulation of corresponding intensity is output to the arm, so that the arm rotates the corresponding angle. The difference between the target angle and the actual rotation angle of the arm is obtained through the output limiting and anti-integral saturation PID control algorithm, and the electrical stimulation intensity is output, the electrical stimulation intensity is automatically calculated, and output to the electrical stimulator.

[0083] S600, looping steps S300-S500 until the action is completed.

[0084] Since there are errors in actual use, and each joint often needs to rotate at multiple different angles to complete a certain action, it is necessary to measure the rotation angles of each joint of the arm cyclically and send electrical stimulation to the arm. The preset timer is used to perform timing, and steps S300-S500 are repeated every 100-500ms until the arm completes the action.

[0085] The present invention also discloses an adaptively adjustable electrical stimulation rehabilitation training device, comprising three inertial sensors for measuring the Euler angle of joint rotation, the three inertial sensors being respectively arranged on the upper arm, the lower arm and the palm;

[0086] An electrical stimulator outputs electrical stimulation to the arm to stimulate the arm to rotate;

[0087] A host computer having one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the adaptively adjusted electrical stimulation rehabilitation training device to perform the above-mentioned adaptively adjusted functional electrical stimulation rehabilitation training method, calculate the intensity of electrical stimulation required to stimulate arm rotation, and output it.

[0088] The controller obtains the data output by the host computer and sends a control signal to the electrical stimulator to control the electrical stimulator to output electrical stimulation of the intensity obtained by calculation.

[0089] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive electrical stimulation rehabilitation training device, characterized in that: A method for performing an adaptively regulated functional electrical stimulation rehabilitation training comprises the following steps: Get joint parameters and target angles; Construct a world coordinate system, where the origin of the world coordinate system is represented as the end of a joint; Construct a dynamic coordinate system, the origin of which is represented by the end of the joint. The dynamic coordinate system is obtained by translating the world coordinate system or the previous dynamic coordinate system along the coordinate axis, and the joint rotation center is used as the stationary point in the dynamic coordinate system; Calculate the coordinates of the stationary point in the dynamic coordinate system in the world coordinate system; Construct vectors through stationary points and calculate vector angles; The actual rotation angle of each joint is calculated from the vector angle, and the difference between the target angle and the actual rotation angle is calculated through the control algorithm to use the difference to calculate the electrical stimulation intensity required for further rotation of the joint; Output electrical stimulation; The method for calculating the coordinates of the stationary point in the world coordinate system includes the following steps: Get Euler angle data; Initially, the world coordinate system coincides with the first dynamic coordinate system; Construct a rotation matrix based on the Euler angle data, and calculate the coordinates of the stationary point in the world coordinate system through the rotation matrix; The rotation matrix is ​​specifically: ， in, Indicates The rotation matrix that transforms the coordinates in the dynamic coordinate system into the coordinates in the world coordinate system, is the heading angle, is the pitch angle, is the roll angle; The coordinates of the stationary point are calculated as: in, Indicates The coordinates of a stationary point in the world coordinate system, , Indicates the distance between two adjacent dynamic coordinate systems; The calculation formula of the vector angle is: in, is the vector angle at the joint, is the vector at the joint; The self-adaptive electrical stimulation rehabilitation training device also includes an inertial sensor to measure the Euler angle of joint rotation; an electrical stimulator, outputting electrical stimulation; A host computer having one or more processors, a memory, and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the adaptively adjusted electrical stimulation rehabilitation training device to perform the adaptively adjusted functional electrical stimulation rehabilitation training method; The controller obtains the data output by the host computer and sends a control signal to the electrical stimulator.

2. The self-adaptive electrical stimulation rehabilitation training device according to claim 1, characterized in that: The control algorithm is specifically PID control.

3. The self-adaptive electrical stimulation rehabilitation training device according to claim 1, characterized in that: The dynamic coordinate system is a sub-coordinate system of the world coordinate system or the previous dynamic coordinate system; when the dynamic coordinate system rotates, the coordinates of the origin of the dynamic coordinate system in the previous dynamic coordinate system or the world coordinate system remain unchanged.

4. The self-adaptive electrical stimulation rehabilitation training device according to claim 1, characterized in that: There are at least 3 dynamic coordinate systems. Calculate the position of the stationary point in the previous dynamic coordinate system, and loop until the position of the stationary point in the world coordinate system is calculated.

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