CN106214427A - 受试者主导的下肢康复外骨骼控制系统及方法 - Google Patents
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Abstract
本发明提供一种受试者主导的下肢康复外骨骼控制系统及方法,该系统包括肌电信号收集模块、关节力矩估计模块、非线性模型参考自适应模块、外骨骼状态反馈模块和力矩输出模块;所述肌电信号收集模块包括电极子模块与带通滤波子模块;所述外骨骼状态反馈模块包括脉冲编码器计数模块和数值差分模块;所述力矩输出模块包括力矩‑电压转换子模块和电压输出子模块。本发明切实可行,通过这种受试者主导的控制器,可提高轻度瘫痪受试者在康复训练中的参与度,提升康复效果。
Description
技术领域
本发明涉及下肢康复外骨骼控制系统及方法,具体地,涉及一种受试者主导的下肢康复外骨骼控制系统及方法。
背景技术
目前,下肢机器外骨骼广泛应用于瘫痪病人的康复训练中。它大大减轻了康复治疗师的负担,其康复效果也受到了认可。不少商业化的下肢外骨骼康复系统陆续推出,比如瑞士HOCOMA公司的Locomat型系统,国内璟和公司的Flexbot型系统。然而他们都是针对瘫痪严重的病人,提供的康复模式是以机器人为主导。受试者在康复训练中只能保持被动状态。而对于一些轻度瘫痪病人来说,他们具有较强的肌肉活性和运动能力,可以自主主导康复训练过程。本发明基于此,设计了一种受试者主导的下肢康复外骨骼控制系统。
经文献检索发现,有一个现存的专利与本发明相似,该专利的中国专利公开号为CN104797385A,专利名称为“自适应外骨骼、用于控制外骨骼的装置与方法”,申请日为2013年12月18日。该发明针对外骨骼设计了可学习外界输入(电刺激、一个或多个机械组件的致动或其组合引起用户移动)的控制系统。该专利与本发明主要有以下几点不同:一、无需设定系统的输入,运动由受试者主导;二、通过肌电信号估计自主力;三、通过非线性模型参考自适应控制器将非线性补偿器,参数自适应学习和控制律统一在同一个框架下。
发明内容
针对现有技术中的缺陷,本发明的目的是提供受试者主导的下肢康复外骨骼控制系统及方法。
本发明是通过以下技术方案实现的:一种受试者主导的下肢康复外骨骼控制系统,其特征在于,其包括肌电信号收集模块、关节力矩估计模块、非线性模型参考自适应模块、外骨骼状态反馈模块和力矩输出模块;所述肌电信号收集模块包括电极子模块与带通滤波子模块;所述外骨骼状态反馈模块包括脉冲编码器计数模块和数值差分模块;所述力矩输出模块包括力矩-电压转换子模块和电压输出子模块;
其中,肌电信号收集模块收集到肌肉的原始肌电信号,并将其发送给关节力矩估计模块;关节力矩估计模块基于原始肌电信号估计出关节的自主关节力矩,并将此力矩值反馈到非线性模型参考自适应模块中;外骨骼状态反馈模块获得外骨骼的运动状态信息,将其反馈给非线性模型参考自适应模块;非线性模型参考自适应模块根据输入的信息,计算出电机的辅助力矩值,将其发送给力矩输出模块;力矩输出模块计算出对应的电压值,发送给电机,产生最终的辅助力矩。
优选地,所述电极子模块包括四个商用电极,分别贴在行走过程中运动相关的四块肌肉;其中,这四块肌肉分别为股直肌、股四头肌、股外侧肌和股二头肌;这四块肌肉与行走过程中髋关节与膝关节的运动有关。
优选地,所述带通滤波子模块的频带范围为20~500Hz。
优选地,所述关节力矩估计模块包括整流子模块、低通滤波子模块与线性估计子模块,整流子模块用于取肌电信号的绝对值;低通滤波子模块的截止频率设定为4Hz,用于从肌电信号中提取与力矩相关的频率成分;线性估计子模块用于估计出最终的关节力矩值。
优选地,所述线性估计子模块认为自主力与肌电信号的关系是线性的;其中,肌电信号与自主力间的线性模型模块的参数通过事先标定,并根据受试者的用户体验反馈进行调整。
优选地,所述非线性模型参考自适应模块作为主控制器,用来计算出外骨骼的辅助力矩值;所述所述非线性模型参考自适应模块采用基于相对阶为2的线性Narendra方案和非线性补偿。
优选地,所述非线性模型参考自适应控制器模块采用控制律,控制律采用如下公式:
其中,参数λ满足L(s)Gm(s)为严格正实,θ=[k,α,β1,β2,g1,g2],
优选地,所述非线性模型参考自适应控制器模块将非线性补偿嵌入到控制律中;其中,非线性补偿器补偿系统中的重力及库伦摩擦力。
优选地,所述非线性模型参考自适应控制器模块采用参考模型,参考模型用于获得受试者的动作意图;其中,参考模型选取为一个二阶稳定系统,需要预先设定,并根据受试者的体验进行调整;参考模型的输入是估计的自主力,输出是受试者期望的位置。
本发明还提供一种受试者主导的下肢康复外骨骼控制方法,其特征在于,其包括以下步骤:
步骤一:将下肢外骨骼结构模块穿到受试者身上,通过魔术贴与低温热塑板制成的外壳,将人腿与外骨骼绑紧;并对齐外骨骼与人体的下肢各关节,保证用户的舒适性;
步骤二:在每侧腿上找到四块目标肌肉的大致位置,贴上肌电电极子模块,设定好子模块的相关频带参数;注意电极片要尽量远离外骨骼的固定装置,以免对肌电信号产生影响;
步骤三:设定整流子模块与低通滤波子模块的相关参数;
步骤四:设定外骨骼状态反馈模块中编码器脉冲计数子模块与数值差分子模块的相关参数,将外骨骼状态反馈模块的信息反馈到非线性模型参考自适应模块中;
步骤五:设定电压转换子模块内部的相关参数,连接好电压输出子模块的数据线;开启力矩输出模块;
步骤六:开启非线性模型参考自适应模块;根据用户体验设定线性估计子模块的参数;
步骤七:完成上述设置后,用户即可自如地使用该下肢外骨骼系统。
与现有技术相比,本发明具有如下的有益效果:本发明针对轻度瘫痪病人保有的较强的肌肉活性与运动能力,配置非线性模型参考自适应控制器,可实现受试者主导的康复模式,它有以下优点:
一,利用人体生理肌电信号估计自主力
肌电信号只产生在受试者肌肉收缩情况下,它能更好地反应受试者的自主意图;而且肌电信号比起机械信号,其信噪比更高,延迟更小。
二,受试者可以主导整个康复训练过程
控制器的轨迹无需预先设定,完全根据受试者的自主运动意图产生。
三,非线性补偿器,参数自适应学习和控制律统一在同一个框架下
只需要一套控制算法,即可同时实现非线性补偿、参数学习与控制律计算,这样可以简化算法,提高计算效率。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述,本发明的其它特征、目的和优点将会变得更明显:
图1为本发明的具体实施框图。
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明,但不以任何形式限制本发明。应当指出的是,对本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进。这些都属于本发明的保护范围。
本发明的目标用户是瘫痪较轻的下肢瘫痪病人。受试者穿上外骨骼后,自主地尝试去完成一些日常生活动作。肌电信号采集模块采集相关肌肉的肌电信号,并通过该肌电信号估计受试者的自主力,通过一个预设的模型参考自适应模型,转化为位置信息,最后通过控制电机运动到该目标位置,进而辅助受试者完成想要的动作。本发明中的下肢外骨骼有右肢髋关节、膝关节两个个自由度,各关节均有交流伺服电机驱动。本发明切实可行,通过这种受试者主导的控制器,可提高轻度瘫痪受试者在康复训练中的参与度,提升康复效果。
本发明提供的受试者主导的下肢康复外骨骼控制系统,主要针对还保留有一定的肌肉活性和运动能力轻度瘫痪病人。图1展示了整体本发明控制框图,本发明包括肌电信号收集模块1、关节力矩估计模块2、非线性模型参考自适应模块3、外骨骼状态反馈模块4和力矩输出模块5;所述肌电信号收集模块1包括电极子模块11与带通滤波子模块12;所述关节力矩估计模块2包括整流子模块21、低通滤波子模块22与线性估计子模块23;所述外骨骼状态反馈模块4包括脉冲编码器计数模块41和数值差分模块42;所述力矩输出模块5包括力矩-电压转换子模块51和电压输出子模块52。
其中,肌电信号收集模块1收集到肌肉的原始肌电信号,并将其发送给关节力矩估计模块2;关节力矩估计模块2基于原始肌电信号估计出关节的自主关节力矩,并将此力矩值反馈到非线性模型参考自适应模块3中;外骨骼状态反馈模块4获得外骨骼的运动状态信息,将其反馈给非线性模型参考自适应模块3;非线性模型参考自适应模块3根据输入的信息,计算出电机的辅助力矩值,将其发送给力矩输出模块5;力矩输出模块5计算出对应的电压值,发送给电机,产生最终的辅助力矩。
所述肌电信号采集模块包括四个商用电极,分别贴在对应的肌肉表面并采集肌电信号。肌电信号来源于行走过程中相关的四块肌肉;其中,这四块肌肉分别为股直肌,股四头肌,股外侧肌和股二头肌,它们与行走过程中髋关节与膝关节的运动有关;肌电信号通过肌电信号采集模块采集。通过分析处理这些肌电信号,可有效地估计出膝关节与髋关节力矩。
针对轻度瘫痪者肌肉未完全萎缩的特性,通过在线估计其自主力,判断动作意图,再通过控制器辅助其完成想要的动作;其中,自主力估计是基于肌电信号完成的;本发明受试者主导的下肢康复外骨骼控制系统是基于模型参考自适应方法。
带通滤波子模块的频带范围为20~500Hz;其中,这种频带选择既可以消除运动尾迹,也可以减小肌电信号失真。
整流子模块21用于取肌电信号的绝对值;低通滤波子模块22的截止频率设定为4Hz,用于从肌电信号中提取与力矩相关的频率成分;线性估计子模块23用于估计出最终的关节力矩值。
线性估计子模块认为自主力与肌电信号的关系是线性的;其中,肌电信号与自主力间的线性模型模块的参数通过事先标定,并根据受试者的用户体验反馈进行调整;这种经验的方式方便受试者的使用,并能达到较好的效果。
所述非线性模型参考自适应模块作为主控制器,用来计算出外骨骼的辅助力矩值;所述非线性模型参考自适应模块采用相对阶为2的线性Narendra方案模块、重力与库伦摩擦力的非线性补偿模块和参数学习模块。其中这些模块均采用同一个算法。其中,线性Narendra方案完成对系统中线性部分的补偿;非线性补偿算法用于补偿系统中的重力与库伦摩擦力;参数学习算法用于学习系统中的相关参数,辅助前两个算法工作。通过这种方式可较完全地学习整个系统的参数,使得控制想过更好,用户的体验性也更好。
所述非线性模型参考自适应控制器模块采用控制律,控制律采用如下公式(1):
其中,参数λ满足L(s)Gm(s)为严格证实,即对于任意s,L(s)Gm(s)的实部都大于0;θ=[k,α,β1,β2,g1,g2],λ、e0等字母代表了与控制器相关的所有参数。
所述非线性模型参考自适应控制器模块将非线性补偿嵌入到控制律中;其中,非线性补偿器补偿系统中的重力及库伦摩擦力;通过这种方式可简化控制器的设计,减少计算量,增加系统的鲁棒性。
所述非线性模型参考自适应控制器模块采用参考模型,参考模型用于获得受试者的动作意图;其中,参考模型选取为一个二阶稳定系统,需要预先设定,并根据受试者的体验进行调整;参考模型的输入是估计的自主力,输出是受试者期望的位置;这样,此参考模型可接近人体运动的肌骨模型,使得受试者操控下肢外骨骼就像运用自己的双腿一样。
本发明受试者主导的下肢康复外骨骼控制方法包括以下步骤:
步骤一:将下肢外骨骼结构模块穿到受试者身上,通过魔术贴与低温热塑板制成的外壳,将人腿与外骨骼绑紧;并对齐外骨骼与人体的下肢各关节,保证用户的舒适性;
步骤二:在每侧腿上找到四块目标肌肉的大致位置,贴上肌电电极子模块,设定好子模块的相关频带参数;注意电极片要尽量远离外骨骼的固定装置,以免对肌电信号产生影响;
步骤三:设定整流子模块与低通滤波子模块的相关参数;
步骤四:设定外骨骼状态反馈模块中编码器脉冲计数子模块与数值差分子模块的相关参数,将外骨骼状态反馈模块的信息反馈到非线性模型参考自适应模块中;
步骤五:设定电压转换子模块内部的相关参数,连接好电压输出子模块的数据线;开启力矩输出模块;
步骤六:开启非线性模型参考自适应模块;根据用户体验设定线性估计子模块的参数;
步骤七:完成上述设置后,用户即可自如地使用该下肢外骨骼系统。
本发明使用过程如下:在相应的肌肉贴上电极片,标定肌电信号与自主力的关系,并根据用户体验反馈进行调整;设定参考模型,根据用户体验调整相关值;受试者穿上下肢外骨骼,对齐各个关节,启动控制器,即可开始使用。本发明切实可行,通过这种受试者主导的控制器,可提高轻度瘫痪受试者在康复训练中的参与度,提升康复效果。
以上对本发明的具体实施例进行了描述。需要理解的是,本发明并不局限于上述特定实施方式,本领域技术人员可以在权利要求的范围内做出各种变形或修改,这并不影响本发明的实质内容。
Claims (10)
1.一种受试者主导的下肢康复外骨骼控制系统,其特征在于,其包括肌电信号收集模块、关节力矩估计模块、非线性模型参考自适应模块、外骨骼状态反馈模块和力矩输出模块;所述肌电信号收集模块包括电极子模块与带通滤波子模块;所述外骨骼状态反馈模块包括脉冲编码器计数模块和数值差分模块;所述力矩输出模块包括力矩-电压转换子模块和电压输出子模块;
其中,肌电信号收集模块收集到肌肉的原始肌电信号,并将其发送给关节力矩估计模块;关节力矩估计模块基于原始肌电信号估计出关节的自主关节力矩,并将此力矩值反馈到非线性模型参考自适应模块中;外骨骼状态反馈模块获得外骨骼的运动状态信息,将其反馈给非线性模型参考自适应模块;非线性模型参考自适应模块根据输入的信息,计算出电机的辅助力矩值,将其发送给力矩输出模块;力矩输出模块计算出对应的电压值,发送给电机,产生最终的辅助力矩。
2.根据权利要求1所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述电极子模块包括四个商用电极,分别贴在行走过程中运动相关的四块肌肉;其中,这四块肌肉分别为股直肌、股四头肌、股外侧肌和股二头肌;这四块肌肉与行走过程中髋关节与膝关节的运动有关。
3.根据权利要求1所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述带通滤波子模块的频带范围为20~500Hz。
4.根据权利要求1所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述关节力矩估计模块包括整流子模块、低通滤波子模块与线性估计子模块,整流子模块用于取肌电信号的绝对值;低通滤波子模块的截止频率设定为4Hz,用于从肌电信号中提取与力矩相关的频率成分;线性估计子模块用于估计出最终的关节力矩值。
5.根据权利要求4所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述线性估计子模块认为自主力与肌电信号的关系是线性的;其中,肌电信号与自主力间的线性模型模块的参数通过事先标定,并根据受试者的用户体验反馈进行调整。
6.根据权利要求1所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述非线性模型参考自适应模块作为主控制器,用来计算出外骨骼的辅助力矩值;所述所述非线性模型参考自适应模块采用基于相对阶为2的线性Narendra方案和非线性补偿。
7.根据权利要求1所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述非线性模型参考自适应控制器模块采用控制律,控制律采用如下公式:
其中,参数λ满足L(s)Gm(s)为严格正实,θ=[k,α,β1,β2,g1,g2],
8.根据权利要求7所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述非线性模型参考自适应控制器模块将非线性补偿嵌入到控制律中;其中,非线性补偿器补偿系统中的重力及库伦摩擦力。
9.根据权利要求1所述的受试者主导的下肢康复外骨骼控制系统,其特征在于,所述非线性模型参考自适应控制器模块采用参考模型,参考模型用于获得受试者的动作意图;其中,参考模型选取为一个二阶稳定系统,需要预先设定,并根据受试者的体验进行调整;参考模型的输入是估计的自主力,输出是受试者期望的位置。
10.一种受试者主导的下肢康复外骨骼控制方法,其特征在于,其包括以下步骤:
步骤一:将下肢外骨骼结构模块穿到受试者身上,通过魔术贴与低温热塑板制成的外壳,将人腿与外骨骼绑紧;并对齐外骨骼与人体的下肢各关节,保证用户的舒适性;
步骤二:在每侧腿上找到四块目标肌肉的大致位置,贴上肌电电极子模块,设定好子模块的相关频带参数;注意电极片要尽量远离外骨骼的固定装置,以免对肌电信号产生影响;
步骤三:设定整流子模块与低通滤波子模块的相关参数;
步骤四:设定外骨骼状态反馈模块中编码器脉冲计数子模块与数值差分子模块的相关参数,将外骨骼状态反馈模块的信息反馈到非线性模型参考自适应模块中;
步骤五:设定电压转换子模块内部的相关参数,连接好电压输出子模块的数据线;开启力矩输出模块;
步骤六:开启非线性模型参考自适应模块;根据用户体验设定线性估计子模块的参数;
步骤七:完成上述设置后,用户即可自如地使用该下肢外骨骼系统。
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