CN108392737A - The lower limb rehabilitation multi-channel function electro photoluminescence output control method of myoelectricity modulation - Google Patents
The lower limb rehabilitation multi-channel function electro photoluminescence output control method of myoelectricity modulation Download PDFInfo
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- CN108392737A CN108392737A CN201810346259.XA CN201810346259A CN108392737A CN 108392737 A CN108392737 A CN 108392737A CN 201810346259 A CN201810346259 A CN 201810346259A CN 108392737 A CN108392737 A CN 108392737A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
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- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
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- A61N1/0404—Electrodes for external use
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Abstract
The present invention relates to a kind of lower limb rehabilitation multi-channel function electro photoluminescence output control methods of myoelectricity modulation;When offline acquisition Healthy People normal walking, the electromyography signal of two pairs of Opposing muscles of knee joint and ankle motion is controlled, electromyography signal modulates multichannel electro photoluminescence output intensity envelope using treated, stimulates patient's lower limb two to Opposing muscle respectively.This method is applied to the lower limb rehabilitation training process of paralytic, can not only prevent muscle cramp, can also be achieved the multi-joint coordinated movement of various economic factors of similar normal person, realizes the rehabilitation training of lower limb walking function, to realize the purpose of lower limb function reconstruction.
Description
Technical field
The present invention relates to a kind of lower limb rehabilitation multi-channel function electro photoluminescence output control methods of myoelectricity modulation.
Background technology
In recent years, the cranial vascular diseases such as spinal cord injury and apoplexy cause the incidence of paralysis to be in notable ascendant trend, no
Only personal and family is given all to bring larger burden, also becomes increasingly heavy social concern.Limb function training and reconstruction are
The hemiplegic patients such as apoplexy are carried out with emphasis when rehabilitation and difficult point, this is related to its activity of daily living and quality of life
Raising problem.At present in terms of hemiplegic patient's lower limb rehabilitation, functional electrostimulation (Functional electrical
Stimulation, FES) it is generally considered a kind of relatively effective clinical tool.Functional electrostimulation mainly passes through low-frequency electrical
The muscle or muscle group of impulse stimulation lower extremity injury induce muscle generation action, can prevent muscle to generate the contraction of muscle
Atrophy and improvement contraction state.Clinical research shows that functional electrostimulation can improve the microcirculation situation of peripheral tissues, confrontation
Muscular atrophy enhances muscular strength.Simultaneously because there is functional electrostimulation uplink sensory stimuli to act the two-way same of execution with downlink
Step property feature, according to cerebral nerve plasticity and motor function, the theories of learning, functional electrostimulation technology can improve health again
Multiple effect so that motor function completion learns and rebuilds again.With the continuous deepening of research, FES has been applied to being permitted for rehabilitation
It is multi-field, but compared with its wide application prospect, many new FES technologies are also confined to laboratory stage, and clinic is answered
FES stimulus modalities and the effect reached are all very limited.Clinically often by means of pressing the fixed output of some cycles output
The functional electrostimulation instrument of intensity so that certain block muscle or certain contract muscular group complete independent joint motions, such as ankle-joint
Dorsiflex, it is kneed bending etc., function be limited only to prevent muscular atrophy, tendon shorten, prevent range of motion by
Limit.But human motion is the process that a multi-joint polymyarian meat comprehensive coordination is shunk.Each individual controlling cycle electricity in joint
There is no the coordinated movements of various economic factors that joint of lower extremity is carried out using electro photoluminescence to train for stimulation, and the independently moving in each joint is to cannot achieve down
Limb function.And the rehabilitation mode individually trained of this joint is not given to brain in patients and normally feels input signal,
It does not generate similar brain and normally controls output signal, for neural rehabilitation and motor function reconstruction theory, being can not be extensive
The lower extremity motor function of normal, the similar Healthy People of patient again.
Invention content
In view of this, the purpose of the present invention is to provide a kind of functional electrostimulation output intensity controlling parties of multichannel
Method, offline intensity of electric stimulus of modulating export envelope, not only realize fairly simple, but also lower limb knee joint may be implemented and ankle closes
The coordination of section controls.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of lower limb rehabilitation multi-channel function electro photoluminescence output control method of myoelectricity modulation, which is characterized in that including
Following steps：
Step S1：Data acquisition and processing (DAP) allows health volunteer to carry out normal straight walking, synchronous acquisition in level ground
Four pieces of muscle electromyography signals, four pieces of muscle distinguish a pair of of Opposing muscle of ankle-joint in order to control：Tibialis anterior (musculus flexor), gastrocnemius
Kneed a pair of of the Opposing muscle of (extensor) and control：Quadriceps muscle of thigh (extensor), hamstrings (musculus flexor)；
Step S2：By tibialis anterior, gastrocnemius, quadriceps muscle of thigh, hamstrings are numbered respectively is 1,2,3,4, collect correspondence
The multiple complete gait cycles of muscle that number is N, original electromyography signal data e with timingN, N ∈ (1,2,3,4),
Include e1, e2, e3, e4, through over commutation, low-pass filtering, sliding average, normalize and take average value processing, obtain one it is complete
The equalization of four pieces of muscle of control multi joint motion and the electromyography signal data E after normalization in gait cycleN, include E1,
E2, E3, E4, the electromyography signal data after four pieces of muscle treatments are corresponded to respectively；
Step S3：By treated electromyography signal data ENModulation function electro photoluminescence output intensity closes control knee
Section and the correspondence muscle of the ankle-joint coordinated movement of various economic factors carry out electro photoluminescence.
Further, the step S3 is specifically included：
Step S311：Four pieces of muscle (tibialis anterior, gastrocnemius, the stock four-head of certain Hemiplegic Patients lower limb are detected respectively
Flesh, hamstring) threshold value and tolerance value under electro photoluminescence, wherein threshold value indicates that patient articular starts to generate slight dynamic under electro photoluminescence
Minimum intensity of electric stimulus wherein intensity when making can be adjusted by the frequency of electro photoluminescence, current amplitude, pulsewidth, tolerance value
Indicate that patient starts to experience pain and untimely minimum intensity of electric stimulus under electro photoluminescence；
Step S312：It will detect that patient code is set as a for the threshold value and tolerance value of the muscle of NNAnd bNWhen, by bNWith EN
In maximum value ENmaxIt is corresponding, select aNWith ENIn minimum value 0 it is corresponding, wherein intensity 0 arrive threshold value aNBetween electro photoluminescence
Belong to ineffective stimulation；
Step S313：Other values are mapped respectively in a manner of linear scale, are obtained needed for the muscle that the patient code is N
The change sequence U of intensity of electric stimulusN, UNCalculation formula such as formula (1) shown in：
Further, the step S3 is specifically included：
Step S321:The muscle for being first N to health volunteer's number carries out surveying flesh under independent desire in equidistance motion
Electricity experiment and electro photoluminescence experiment；
Step S322:Record electromyography signal v under independent desire when generating different torques from small to largeEMGm, equally in electricity
It when stimulation test, records under onesize torque, intensity of electric stimulus um, m is to indicate the m times experiment；
Step S323:To vEMG1, vEMG2... vEMGmRectification, low-pass filtering are carried out respectively, is averaged processing, obtain m
The corresponding m electromyography signal value of moment values, respectively v1, v2... vm；
Step S324:Between m electromyography signal value is normalized to [0,1], it is denoted as v, umIt is an a pair with each of v value
It answers, by the method for linear regression, the approximately linear of obtain that treated independent desire electromyography signal ν and intensity of electric stimulus u
Relationship is u=kNV, wherein kNThe straight slope obtained for linear regression；
Step S325:The complete gait obtained after pretreatment further according to tibialis anterior electromyography signal in first step
Myoelectricity change curve data E in periodN, it is the electromyography signal under independent desire, by data ENIt can obtain the flesh that number is N
Intensity of electric stimulus delta data U corresponding to meatN', i.e. UN'=kN·EN。
The present invention has the advantages that compared with prior art：
This product Study of functional electro photoluminescence control technology, utilizes knee joint when lower limb normal walking and ankle motion pair
The electromyography signal for answering two pairs of Opposing muscles, to modulate the output of the functional electrostimulation with timing in complete gait cycle
Sequence of intensity group can export corresponding be somebody's turn to do using apparatus of electro-stimulation in the rehabilitation training of paralytic to specific muscle
The different intensity of electric stimulus sequences of muscle so that the multigroup Coordinating Muscle of lower limb shrinks or stretches, and completes the multi-joint coordinated movement of various economic factors
Training so that the shrinkage characteristic of each major muscles is consistent with Healthy People, to most simply also farthest realize limb motion
Reconstruction.
Description of the drawings
Fig. 1 is that lower limb myoelectricity acquisition electrode and electric stimulation electrode of the present invention are placed with schematic diagram
Fig. 2 be four pieces of muscle of a gait cycle of the invention processing after electromyography signal
Fig. 3 is original data processing flow chart of the present invention
Fig. 4 is v of the present inventionEMGFlow chart of data processing figure.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings and embodiments.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, the present invention provides a kind of lower limb rehabilitation multi-channel function electro photoluminescence of myoelectricity modulation
Output control method, which is characterized in that include the following steps：
Step S1：Data acquisition and processing (DAP) allows health volunteer to carry out normal straight walking, synchronous acquisition in level ground
Four pieces of muscle electromyography signals, four pieces of muscle distinguish a pair of of Opposing muscle of ankle-joint in order to control：Tibialis anterior (musculus flexor), gastrocnemius
Kneed a pair of of the Opposing muscle of (extensor) and control：Quadriceps muscle of thigh (extensor), hamstrings (musculus flexor)；
Step S2：By tibialis anterior, gastrocnemius, quadriceps muscle of thigh, hamstrings are numbered respectively is 1,2,3,4, collect correspondence
The multiple complete gait cycles of muscle that number is N, original electromyography signal data e with timingN,N∈(1,2,3,4),
Include e1, e2, e3, e4, through over commutation, low-pass filtering, sliding average, normalize and take average value processing, obtain one it is complete
The equalization of four pieces of muscle of control multi joint motion and the electromyography signal data E after normalization in gait cycleN, include E1,
E2, E3, E4, the electromyography signal data after four pieces of muscle treatments are corresponded to respectively；
Step S3：By treated electromyography signal data ENModulation function electro photoluminescence output intensity closes control knee
Section and the correspondence muscle of the ankle-joint coordinated movement of various economic factors carry out electro photoluminescence.
In an embodiment of the present invention, further, the step S3 is specifically included：
Step S311：Four pieces of muscle (tibialis anterior, gastrocnemius, the stock four-head of certain Hemiplegic Patients lower limb are detected respectively
Flesh, hamstring) threshold value and tolerance value under electro photoluminescence, wherein threshold value indicates that patient articular starts to generate slight dynamic under electro photoluminescence
Minimum intensity of electric stimulus when making, wherein intensity can be adjusted by the frequency of electro photoluminescence, current amplitude, pulsewidth, tolerance
Value indicates that patient starts to experience pain and untimely minimum intensity of electric stimulus under electro photoluminescence；
Step S312：It will detect that patient code is set as a for the threshold value and tolerance value of the muscle of NNAnd bNWhen, by bNWith EN
In maximum value ENmaxIt is corresponding, select aNWith ENIn minimum value 0 it is corresponding, wherein intensity 0 arrive threshold value aNBetween electro photoluminescence
Belong to ineffective stimulation；
Step S313：Other values are mapped respectively in a manner of linear scale, are obtained needed for the muscle that the patient code is N
The change sequence U of intensity of electric stimulusN, UNCalculation formula such as formula (1) shown in：
In conjunction with Fig. 4, in an embodiment of the present invention, further, the step S3 is specifically included：
Step S321:The muscle for being first N to health volunteer's number carries out surveying flesh under independent desire in equidistance motion
Electricity experiment and electro photoluminescence experiment；
Step S322:Record electromyography signal v under independent desire when generating different torques from small to largeEMGm, equally in electricity
It when stimulation test, records under onesize torque, intensity of electric stimulus um, m is to indicate the m times experiment；
Step S323:To vEMG1, vEMG2... vEMGmRectification, low-pass filtering are carried out respectively, is averaged processing, obtain m
The corresponding m electromyography signal value of moment values, respectively v1, v2... vm；
Step S324:Between m electromyography signal value is normalized to [0,1], it is denoted as v, umIt is an a pair with each of v value
It answers, by the method for linear regression, the approximately linear of obtain that treated independent desire electromyography signal ν and intensity of electric stimulus u
Relationship is u=kNV, wherein kNThe straight slope obtained for linear regression；
Step S325:The complete gait obtained after pretreatment further according to tibialis anterior electromyography signal in first step
Myoelectricity change curve data E in periodN, it is the electromyography signal under independent desire, by data ENIt can obtain the flesh that number is N
Intensity of electric stimulus delta data U corresponding to meatN', i.e. UN'=kN·EN。
In an embodiment of the present invention, it mainly for the training of the lower extremity motor function in Hemiplegic Patients, such as uses
Step S3 methods for the moment, need to detect four pieces of muscle of patient's lower limb (tibialis anterior, gastrocnemius, quadriceps muscle of thigh, popliteal ropes respectively first
Flesh) tolerance value and threshold value under electro photoluminescence, utilize the myoelectricity of four pieces of muscle when the good Healthy People normal walking of pre-processing
Signal E1, E2, E3, E4, modulate the intensity of electric stimulus change sequence U belonged to needed for four pieces of muscle difference of the patient1, U2, U3, U4,
And be written can multichannel output apparatus of electro-stimulation in；Such as using pair that when method two, will have been modulated in step S3
Answer the intensity of electric stimulus change sequence U needed for four pieces of muscle of patient1', U2', U3', U4' write-in can multichannel output electro photoluminescence
In the program of instrument.
When carrying out Hemiplegic Patients rehabilitation training using electro photoluminescence, early rehabilitation can be by the leg of patient's Ipsilateral with hanging
Rope lift or using strong lateral position posture, i.e., patient be good for side body crouch on bed, Ipsilateral thigh, shank are positioned over can
On runing rest, the axle center of the point of rotation corresponds to knee joint rotation center position, and ankle-joint and kneed freedom can be achieved in this way
Flexion and extension, sitting posture then can be used in the middle and later periods or walking posture carries out rehabilitation training, and egersimeter exports different electro photoluminescence
The channel of pulsewidth sequence is placed with corresponding muscle position, and electrode is placed with position as shown in Fig. 1 yl moieties, to stimulation target
Muscle induces the contraction of muscle, completes the exercise for coordination of lower limb multi-joint, to achieve the purpose that motor function is rebuild.
The foregoing is merely presently preferred embodiments of the present invention, all equivalent changes done according to scope of the present invention patent with
Modification should all belong to the covering scope of the present invention.
Claims (3)
1. a kind of lower limb rehabilitation multi-channel function electro photoluminescence output control method of myoelectricity modulation, which is characterized in that including with
Lower step：
Step S1：Data acquisition and processing (DAP) allows health volunteer to carry out normal straight walking, four pieces of synchronous acquisition in level ground
Muscle electromyography signal, four pieces of muscle distinguish a pair of of Opposing muscle of ankle-joint in order to control：Tibialis anterior, gastrocnemius and control knee joint
A pair of of Opposing muscle：Quadriceps muscle of thigh, hamstrings;
Step S2：By tibialis anterior, gastrocnemius, quadriceps muscle of thigh, hamstrings are numbered respectively is 1,2,3,4, collect reference numeral
For N the multiple complete gait cycles of muscle, original electromyography signal data e with timingN,N∈（1,2,3,4）, including
There is e1, e2, e3, e4, through over commutation, low-pass filtering, sliding average, normalize and take average value processing, obtain a complete gait
The equalization of four pieces of muscle of control multi joint motion and the electromyography signal data E after normalization in periodN, include E1, E2,
E3, E4, the electromyography signal data after four pieces of muscle treatments are corresponded to respectively;
Step S3：By treated electromyography signal data ENModulation function electro photoluminescence output intensity, to control knee joint and ankle
The correspondence muscle of joint coordination movement carries out electro photoluminescence.
2. a kind of lower limb rehabilitation multi-channel function electro photoluminescence of myoelectricity modulation according to claim 1 exports controlling party
Method, it is characterised in that：The step S3 is specifically included：
Step S5：The tibialis anterior, gastrocnemius, quadriceps muscle of thigh of certain Hemiplegic Patients lower limb are detected respectively He four pieces of fleshes of hamstring
Threshold value and tolerance value of the meat under electro photoluminescence, wherein threshold value indicate electro photoluminescence under patient articular start generate mild action when most
Small intensity of electric stimulus, wherein intensity can be adjusted by the frequency of electro photoluminescence, current amplitude, pulsewidth, and tolerance value indicates electricity
The lower patient of stimulation starts to experience pain and untimely minimum intensity of electric stimulus；
Step S6：It will detect that patient code is set as a for the threshold value and tolerance value of the muscle of NNAnd bNWhen, by bNWith ENIn maximum
Value ENmaxIt is corresponding, select aNWith ENIn minimum value 0 it is corresponding, wherein intensity 0 arrive threshold value aNBetween electro photoluminescence belong to invalid
Stimulation；
Step S7：Other values are mapped respectively in a manner of linear scale, obtain electro photoluminescence needed for the muscle that the patient code is N
The change sequence U of intensityN：
（1）
3. a kind of lower limb rehabilitation multi-channel function electro photoluminescence of myoelectricity modulation according to claim 1 exports controlling party
Method, it is characterised in that：The step S3 is specifically included：
Step S31:The muscle for being first N to health volunteer's number carries out surveying myoelectricity experiment under independent desire in equidistance motion
It is tested with electro photoluminescence;
Step S32:Record electromyography signal v under independent desire when generating different torques from small to largeEMGm, equally in electro photoluminescence reality
It when testing, records under onesize torque, intensity of electric stimulus um, m is to indicate the m times experiment；
Step S33:To vEMG1, vEMG2... vEMGmRectification, low-pass filtering are carried out respectively, is averaged processing, obtain m moment values
Corresponding m electromyography signal value, respectively v1, v2... vm；
Step S34:Between m electromyography signal value is normalized to [0,1], it is denoted as v, umBe with each of v value it is one-to-one,
By the method for linear regression, the independent desire electromyography signal that obtains that treatedWith the linear approximate relationship of intensity of electric stimulus u
For, wherein kNThe straight slope obtained for linear regression；
Step S35:The complete gait cycle obtained after pretreatment further according to tibialis anterior electromyography signal in first step
Interior myoelectricity change curve data EN, it is the electromyography signal under independent desire, by data ENIt can obtain the muscle institute that number is N
Corresponding intensity of electric stimulus delta data, i.e.,。
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112386796A (en) * | 2020-11-18 | 2021-02-23 | 力迈德医疗（广州）有限公司 | Rehabilitation equipment control method based on electrical stimulation and rehabilitation equipment |
| CN113995956A (en) * | 2021-11-30 | 2022-02-01 | 天津大学 | Stroke electrical stimulation training intention recognition method based on myoelectric expected posture adjustment |
| WO2022153037A1 (en) | 2021-01-13 | 2022-07-21 | Mygo4Ward Ltd | Improvements relating to functional electrical stimulation garments |
| CN115640827A (en) * | 2022-09-27 | 2023-01-24 | 首都师范大学 | Intelligent closed-loop feedback network method and system for processing electrical stimulation data |
-
2018
- 2018-04-18 CN CN201810346259.XA patent/CN108392737A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112386796A (en) * | 2020-11-18 | 2021-02-23 | 力迈德医疗（广州）有限公司 | Rehabilitation equipment control method based on electrical stimulation and rehabilitation equipment |
| WO2022153037A1 (en) | 2021-01-13 | 2022-07-21 | Mygo4Ward Ltd | Improvements relating to functional electrical stimulation garments |
| CN113995956A (en) * | 2021-11-30 | 2022-02-01 | 天津大学 | Stroke electrical stimulation training intention recognition method based on myoelectric expected posture adjustment |
| CN113995956B (en) * | 2021-11-30 | 2022-09-13 | 天津大学 | Stroke electrical stimulation training intention recognition device based on myoelectricity expected posture adjustment |
| CN115640827A (en) * | 2022-09-27 | 2023-01-24 | 首都师范大学 | Intelligent closed-loop feedback network method and system for processing electrical stimulation data |
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Application publication date: 20180814 |