CN104971433B - The functional electrostimulation athletic rehabilitation system and method manually merged with autonomous control - Google Patents
The functional electrostimulation athletic rehabilitation system and method manually merged with autonomous control Download PDFInfo
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- CN104971433B CN104971433B CN201510316995.7A CN201510316995A CN104971433B CN 104971433 B CN104971433 B CN 104971433B CN 201510316995 A CN201510316995 A CN 201510316995A CN 104971433 B CN104971433 B CN 104971433B
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Abstract
The present invention discloses a kind of functional electrostimulation athletic rehabilitation system and method manually merged with autonomous control, mainly it is made up of the closed-loop control system of three feedforward controller, PID/feedback controller and impedance controller module compositions, wherein, feedforward controller generates One function intensity of electric stimulus, the response speed of Guarantee control system in time according to the joint angles of setting；PID/feedback controller ensures the antijamming capability of system；Impedance controller obtains a joint angles according to subject from the main force, is attached on the joint angles originally set, realizes the collaborative work from the main force and functional electrostimulation.The autokinetic movement consciousness of subject can be fused in rehabilitation training by this control model, realize the training of precision by the present invention.The present invention is practical, can improve the rehabilitation efficacy of existing capability electro photoluminescence.
Description
Technical field
The present invention relates to a kind of rehabilitation system, in particular it relates to the feature that a kind of manual control merges with autonomous control
Electro photoluminescence athletic rehabilitation system.
Background technology
The end of the sixties in last century, functional electrostimulation as a kind of emerging rehabilitation technique, be widely used in medical treatment and
Rehabilitation field.At present, ripe commercialization functional electrical stimulato has a lot, the famous MotionStim for having Germany, and
Hispanic Compex etc..Functional electrostimulation helps loss of motor function person to produce pre- by electric pulse stimulation contraction of muscle
The motor function first set.But due to the non-linear and time-varying of musculoskeletal system so that control algolithm is extremely complex, plus muscle
Fatigability, it greatly limit the application of functional electrostimulation.
At present, electrical stimulating therapy have ignored the remaining autokinetic movement ability of patient.When receiving electro photoluminescence physiotherapy, patient is complete
It is in entirely under Passive Mode, the autokinetic movement ability of patient is suppressed, and this is unfavorable for strengthening brain plasticity and rehabilitation efficacy.
Find by literature search, China Patent Publication No. CN101846977A, patent name is：Functional electrostimulation joint
Angle genetic fuzzy control method, the applying date are on 05 26th, 2010.The invention Integrated Fuzzy Control and genetic algorithm, realize
The accurate control of electro photoluminescence campaign.Following technical problem be present in the patent：1st, without addition muscle feedforward controller；2nd, Wu Farong
Close the autokinetic movement consciousness of subject.
The content of the invention
For defect present in above-mentioned prior art, the present invention provides the work(that a kind of manual control merges with autonomous control
Energy property electro photoluminescence athletic rehabilitation system and method, it is intended to the autokinetic movement consciousness of patient is fused in electro photoluminescence physiotherapy, passed through
This control model, the autokinetic movement consciousness of subject can be fused in rehabilitation training, realize the training of precision, improve
The rehabilitation efficacy of existing capability electro photoluminescence.
The present invention is achieved through the following technical solutions using elbow joint as example.
The functional electrostimulation athletic rehabilitation system that a kind of manual control merges with autonomous control, is established comprising three moulds
The closed-loop control system of block：Feedforward controller, PID/feedback controller and impedance controller；
Wherein, feedforward controller uses neural network model, and it generates One function electricity thorn according to joint angles in time
Swash intensity, the response speed of Guarantee control system；PID/feedback controller ensures the antijamming capability of system；Impedance controller root
Angle is obtained according to from the main force, is attached to the joint angles originally set, realizes the collaborative work from the main force and functional electrostimulation.
Preferably, the feedforward controller uses the BP neural network of 3 layers of counterpropagation network,
Wherein, the input of network model is joint angles, speed, acceleration and past functional electrostimulation intensity, defeated
Go out be current functionality electro photoluminescence current strength；Neural metwork training is trained by gradient descent method；In order to improve network
Stability, the initial value of network are determined by genetic algorithm.
Preferably, PID/feedback controller is to improve the antijamming capability of system；
Wherein, PID/feedback controller parameter is adjusted by Ziegler-Nichols methods, and feedback angle passes through commercial instrument
Device Biometrics is obtained.
Preferably, the connection of the PID controller and feedforward controller, by introducing a time delay process Z-nRealize.
Wherein, time delay process Z-nN it is relevant with the sampling period of control system, exhaustive sound out can be passed through in practice and obtain one
Individual suitable value；
Preferably, the impedance controller is realized by second order differential equation；
Wherein, the input of impedance controller is from the main force, and output is additional angle.
Preferably, described from the main force is to be obtained by measuring with the electromyographic signal of this joint motions related muscles；
Wherein, muscle is chosen for the bicipital muscle of arm, and electromyographic signal is measured by commercial apparatus Biometrics；Myoelectricity is believed
Number it is considered proportional linear relationship with the relation from the main force.
Preferably, the electromyographic signal is needed by filtering process twice；
Wherein, filtering is shielding processing for the first time, removes electro photoluminescence tail；It is comb filtering for the second time, removes M wave rears
Mark.
Compared with prior art, the present invention has following beneficial effect：
The present invention is controlled by the coordination of three modules, and the autokinetic movement that can merge patient is realized in rehabilitation training, is
Patient provides more effective rehabilitation, has advantages below：
1. the autokinetic movement for merging patient is intended to
Patient can go to change movement locus set in advance by remaining when carrying out rehabilitation training from the main force, will be autonomous
Motion intention is dissolved into new track..
2. enhancing the compliance of system, system complexity is reduced
Due to introducing impedance Control Model, the compliance of system is enhanced so that assisted from the main force and functional electrostimulation
With work；And impedance model it needs to be determined that parameter it is seldom, reduce by the complexity from the main force to joint angles.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the specific implementation control block diagram of the present invention.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
The functional electrostimulation athletic rehabilitation system that manual control provided by the invention merges with autonomous control, shown in Fig. 1
Whole implementation block diagram, including：Feedforward controller 1, PID/feedback controller 2, electromyographic signal go tail filtration module 3, impedance control
Device 4, time delay module 5, functional electrostimulation module 6 and autonomous control module 7, it is thereinRepresent motion angle set in advance
Write music line,Actual motion angle is represented,Represent the supplementary articulation angle generated by impedance model.
Feedforward controller 1 includes：3 layers of reverse transmittance nerve network based on genetic algorithm.Wherein, the input of network model
It is joint angles, speed, acceleration and past functional electrostimulation intensity, output is that the electric current of current functionality electro photoluminescence is strong
Degree；Neural metwork training is trained by gradient descent method；The initial value of network is determined by genetic algorithm.
PID/feedback controller 2 includes：PID controller.Wherein PID controller has three parameters：Proportional gain KP, integration
Gain KI and differential gain KD；Three parameters are determined by Ziegler-Nichols methods.
Electromyographic signal goes tail filtration module 3 to include：Electromyographic signal filter unit.Wherein target muscles are chosen for the upper arm two
Flesh, electromyographic signal filter unit include filtering twice, and filtering is shielding processing for the first time, removes electro photoluminescence tail, is for the second time
Comb filtering, remove M wave rear marks；Electromyographic signal from the main force with being set to linear ratio relation.
Impedance controller 4 is a second order differential equation, and its input is from the main force, and output is additional angle value.
Time delay module 5 includes：Time delay process.Wherein time delay process Z-nN it is relevant with the sampling period of control system, it is actual
In can pass through exhaustive sound out and obtain a suitable value.
Functional electrostimulation module 6 includes：The electrode slice A of functional electrostimulation, electromyographic signal collection sensor B, angle
Sensor C.Wherein the target muscles of electro photoluminescence are the bicipital muscle of arm, and intensity of electric stimulus is determined by above-mentioned control module synthesis；Electricity thorn
Swash device and select MotionStim, myoelectric sensor selects Biometrics with angular transducer.
Autonomous control module 7 includes：Subject's human brain is to the conscious active control of muscle.Wherein, the module passes through flesh
Electric signal goes tail filtration module 3 and impedance control module 4 to realize that the coordination with functional electrostimulation controls.
The inventive method is as follows：The electrode slice of MotionStim egersimeters is attached to the bicipital muscle of arm table related to motion
Face, Biometrics electromyographic signal sensors are also placed in this muscle surface, and Biometrics angular transducers are attached to herein, setting
Curve movement；Isolated operation PID/feedback controller, PID three parameters are determined by Ziegler-Nichols methods；Individually
Feedforward controller is run, trains to obtain the relevant parameter of network with reference to genetic algorithm；PID/feedback controller and feedforward are run simultaneously
Controller, time delay process is adjusted, obtain a relatively good combination effect；On-impedance controller, adjust relevant parameter, make by
Examination person obtains preferably experience；Hereafter, subject is the available online motion controlled in real time of autokinetic movement consciousness.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (9)
1. a kind of functional electrostimulation athletic rehabilitation system manually merged with autonomous control, it is characterised in that mainly by feedovering
The closed-loop control system composition of three controller, PID/feedback controller and impedance controller module compositions, wherein, feedforward control
Device generates One function intensity of electric stimulus in time according to the joint angles of setting, ensures the response speed of closed-loop control system；
PID/feedback controller ensures the antijamming capability of system；Impedance controller obtains a joint angle according to subject from the main force
Degree, is attached on the joint angles originally set, realizes the collaborative work from the main force and functional electrostimulation.
2. the functional electrostimulation athletic rehabilitation system according to claim 1 manually merged with autonomous control, its feature
It is, the feedforward controller uses neural network model, and the neural network model uses 3 layers of counterpropagation network, nerve
Network model training algorithm uses gradient descent method, and the initial value of neural network model is determined by genetic algorithm.
3. the functional electrostimulation athletic rehabilitation system according to claim 2 manually merged with autonomous control, its feature
It is, the input of the neural network model is joint angles, speed, acceleration and past functional electrostimulation intensity, defeated
Go out be current functionality electro photoluminescence current strength.
4. the functional electrostimulation athletic rehabilitation system according to claim 3 manually merged with autonomous control, its feature
It is, in training, the joint angles, speed and acceleration include current and past neural network model.
5. the functional electrostimulation athletic rehabilitation system according to claim 1 manually merged with autonomous control, its feature
It is, the PID/feedback controller is according to PID regulation mechanisms, its three parameters：Proportional gain KP, storage gain KI and differential
Gain KD, determined by Ziegler-Nichols methods.
6. the functional electrostimulation athletic rehabilitation system according to claim 1 manually merged with autonomous control, its feature
It is, the feedforward controller is connected by time delay module with PID/feedback controller, and the time delay module includes time delay process Z-n, wherein n is relevant with the sampling period of closed-loop control system.
7. the functional electrostimulation athletic rehabilitation system according to claim 1 manually merged with autonomous control, its feature
It is, the impedance controller uses second order differential equation model, and its input is from the main force, and output is supplementary articulation angle.
8. the functional electrostimulation athletic rehabilitation system according to claim 7 manually merged with autonomous control, its feature
It is, described from the main force is to be obtained by measuring with the electromyographic signals of joint motions related muscles, and electromyographic signal with being from the main force
Linear ratio relation.
9. the functional electrostimulation athletic rehabilitation system according to claim 8 manually merged with autonomous control, its feature
It is, the electromyographic signal goes tail to handle by filtering twice；Wherein, filtering is shielding processing for the first time, removes electro photoluminescence
Tail；It is comb filtering for the second time, removes M wave rear marks.
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| CN105816166B (en) * | 2016-05-24 | 2018-07-27 | 周博 | Bioelectrical signals adjust fusion method, apparatus and system |
| CN110703733B (en) * | 2019-10-18 | 2021-10-01 | 国电电力内蒙古新能源开发有限公司 | Application method and system of neural network in fault prediction based on genetic algorithm feedforward processing |
| CN111659010B (en) * | 2020-07-16 | 2023-02-28 | 郑州大学 | Limb functional electrical stimulation control method and limb rehabilitation robot |
| CN112546440B (en) * | 2020-12-03 | 2022-10-21 | 郑州大学 | Condition feedback control method of upper limb rehabilitation system based on functional electrical stimulation |
| CN113058157B (en) * | 2021-02-25 | 2022-01-18 | 国家康复辅具研究中心 | Feedback type functional electrical stimulation system with multi-signal fusion |
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| US20050049652A1 (en) * | 2003-08-25 | 2005-03-03 | Kai-Yu Tong | Functional electrical stimulation system |
| CN101846977B (en) * | 2010-05-26 | 2012-08-15 | 天津大学 | Genetic fuzzy control method of joint angles by functional electrical stimulation |
| CN102949783B (en) * | 2011-08-26 | 2015-03-25 | 云林科技大学 | Feedback controlled wearable upper limb electrical stimulation device |
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