CN1089011C - Functional neuromyo-electric signal identification and stimulation apparatus - Google Patents

Functional neuromyo-electric signal identification and stimulation apparatus Download PDF

Info

Publication number
CN1089011C
CN1089011C CN 98125084 CN98125084A CN1089011C CN 1089011 C CN1089011 C CN 1089011C CN 98125084 CN98125084 CN 98125084 CN 98125084 A CN98125084 A CN 98125084A CN 1089011 C CN1089011 C CN 1089011C
Authority
CN
China
Prior art keywords
signal
control
emg
connected
force
Prior art date
Application number
CN 98125084
Other languages
Chinese (zh)
Other versions
CN1215614A (en
Inventor
周兆英
王福根
张毓笠
鄢达来
熊沈蜀
朱俊华
毕胜
章刚华
Original Assignee
清华大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 清华大学 filed Critical 清华大学
Priority to CN 98125084 priority Critical patent/CN1089011C/en
Publication of CN1215614A publication Critical patent/CN1215614A/en
Application granted granted Critical
Publication of CN1089011C publication Critical patent/CN1089011C/en

Links

Abstract

本发明涉及功能性神经肌肉电信号识别和刺激仪,属于医疗器械技术领域,包括FNS模块,EMG、力和角度信号测量模块,由计算机及控制软件组成的计算机分析控制部件,以及连于上下肢运动辅助训练器械的多组力和角度信号传感器。 The present invention relates to functional neuromuscular electrical stimulation instrument and identification, belonging to the technical field of medical devices, including FNS module, EMG, force and angle signal measurement module, computer analysis and control means controlled by the computer software components, and connected to the upper and lower limbs plural sets of force sensors and the angular movement of the auxiliary signal training apparatus. 本仪器可广泛用于瘫痪病人治疗和功能重建,运动员训练,肌电信号分析诊断及相关的测量控制应用中,具有功能完善、测控精度高、操作简便、治疗效果好的优点。 The instrument can be widely used in the treatment of paralyzed patients and functional reconstruction, athlete training, EMG analysis and diagnosis and associated measurement and control applications, with perfect function, high precision measurement and control, easy operation, the advantages of good therapeutic effect.

Description

功能性神经肌肉电信号识别和刺激仪 Functional neuromuscular electrical stimulator to identify and

技术领域 FIELD

本发明属于医疗器械技术领域,特别涉及一种对神经肌肉进行电刺激达到治疗和机能恢复的康复训练仪器。 The present invention belongs to the field of medical technology equipment, particularly to a neuromuscular electrical stimulation instrument to achieve the rehabilitation treatment and functional recovery.

本发明提出一种功能性神经肌肉电信号识别和刺激的康复训练仪器,其特征在于,包括FNS(功能性神经电刺激)模块,EMG(肌电信号)、力和角度信号测量模块,由计算机及控制软件组成的计算机分析控制部件,以及连于上下肢运动辅助训练器械的多组力和角度信号传感器;所说的FNS模块输入端与所说的计算机分析控制部件相连,其输出端具有多个相互独立的电脉冲刺激通道及与之相连的刺激电极,所说的EMG、力和角度信号测量模块的输入端连有与所说的电脉冲刺激通道数目相同的肌电信号采集电极且与所说的力和角度信号传感器相连接,其输出端与所说的计算机分析控制部件相连接。 The present invention provides a functional neuromuscular stimulation signal classification and rehabilitation training apparatus, characterized by comprising FNS (Functional Electrical Nerve Stimulation) module, the EMG (EMG), force and angle signal measurement module, by a computer analysis and computer control means control software, and a plurality of sets of force and angle sensor signal is connected to the lower extremity exercise training aid equipment; FNS modules of said input end of said control member is connected to the computer analysis, which has a plurality of output terminals independently of one another and the passage of electrical stimulation stimulation electrodes connected thereto, the input terminal of said EMG, force and angle signal measurement module connected to said electrical pulses have the same number of stimulation channels and electrodes and EMG signal acquisition and the angle signal of said force sensor is connected to an output end of said control member is connected to computer analysis. 所说的每个刺激通道可独立接受由计算机分析控制软件决策后送出刺激参数(刺激脉冲波形宽度,幅值,频率,刺激时间,间歇时间,刺激次数等),由刺激电极送入肌肉,带动相应肢体或器官的运动。 After stimulation of each of said receiving channels is independently controlled by the computer analysis software parameter decision feeding stimulation (stimulation pulse width of the waveform, amplitude, frequency, stimulus duration, the time interval, number of times of stimulation), the stimulation electrode into the muscle, drive corresponding movement of a limb or organ.

所说的FNS模块的每一个通道可由接收所说的计算机的控制信号并产生电脉冲信号的信号发生装置,对该电脉冲信号进行放大的功率放大器,对该放大的信号的安全控制的安全保护装置以及使该信号发生装置达到恒流或恒压输出的电流检测电路组成。 A control channel signal of said signal for each FNS modules may be received by said computer and generating an electrical pulse signal generating means, a power amplifier for amplifying the electrical pulses, the security control security amplified signal It means that the signal generating means and reaches the current detecting circuit composed of constant current or voltage output. 将计算机控制信号送入信号发生装置、信号合成装置,经功率放大及安全监测隔离后,形成刺激脉冲信号,所说的EMG、力和角度信号测量模块可包括对采集的信号进行放大的平衡对称的差模三级放大电路,连于放大电路的输出端的光电耦合器及A/D转换器。 The apparatus, signal synthesizing apparatus into a computer signal generating a control signal, after power amplification and isolation safety monitoring, stimulating pulse signal, said EMG, force and angle of the signal measurement module may include a signal acquisition amplifying symmetrical balance the three differential amplifying circuit connected to the output of the photocoupler amplifier circuit and a / D converter. 该测量模块具有多个通道与所说的肌电信号采集电极、肌力信号和角位移信号传感器相连。 The EMG measurement module having a plurality of channels with said collection electrode is connected to a signal strength signal and the angular displacement sensor. 人体肌电信号由肌电极采集,通过具有平衡对称的差模三级放大电路的,经A/D采样后送计算机分析控制部件。 Human muscle EMG electrodes by the acquisition, by amplifying circuit having three symmetrically balanced differential mode, the A / D sampling control computer analysis evacuation means. 放大器的输出信号则经过光电耦合再送给计算机处理。 The amplifier output signal is then sent via the photocoupler computer processing.

所说的电极可包括表面电极和植入式电极。 The electrode may include a surface of said electrode and an implanted electrode. 用于刺激和测量的同种电极由于功能不同,结构和材料也略有不同。 Electrodes for stimulation and isotype measurements due to the different functions, structures, and materials are also slightly different.

所说的可测控上下肢辅助训练器械是指用于肘关节和膝关节运动训练的辅助器械,上面各安有一套测量肌力和关节运动角度的传感器,以测量、控制和评估上下肢的运动状况。 He said lower extremity training aid may refer to the measurement and control device for the elbow and knee auxiliary equipment sports training, each of the above set of security and strength measured articulation angle sensor for measurement, control and movement of the lower limbs of the assessment situation.

所说的计算机分析控制部件中高性能计算机是主体,配有采用相应的分析控制方法编制的控制软件。 Computer analysis of said control member is a high performance computer main body, with the corresponding analysis control method employed in the preparation of the control software. 分析控制方法主要对采集到的肌电信号和力、角度信号进行处理分析,给出相应的肌肉评价指标和工作模式,评估肌肉性能、状态并进行动作规划,采用控制算法建立刺激量与规划动作之间的数学关系,进而进行刺激参数规划、送刺激信号,实现FNS闭环控制及肌肉状态的分析评价。 Analysis control method mainly collected and EMG force, an angle signal processing and analysis, to give the corresponding muscle and mode of evaluation, evaluate muscle performance, status and action plan, and plan to establish the amount of stimulation operation using a control algorithm mathematical relationship between, and then stimulated parametric programming, send stimulation signals, analysis and evaluation of FNS achieve closed-loop control and muscle condition.

本仪器根据功能性神经肌肉电刺激原理在计算机控制下,由信号发生器产生幅值、频率和脉宽可调的刺激脉冲序列,经功率放大和刺激器后作用于人体。 The instrument under computer control, a stimulus pulse train amplitude, frequency and pulse width adjustable by the signal generator in accordance with the functional principle of neuromuscular electrical stimulation, and the effect of the power amplifier after stimulation on the human body. 它通过人工兴奋神经肌肉的方法来控制肌肉骨骼运动,使瘫痪的肌体恢复功能。 It is controlled by artificial means musculoskeletal movement neuromuscular excitability, paralysis of the body recovery. 其产生的即时效应在刺激运动神经肌肉的同时,也传入神经,经脊髓反射到高级中枢。 Immediate effects it produces, while stimulation of the motor nerve muscle, but also afferent nerves, the spinal reflex to the senior center. 施以重复的运动模式信息,便于皮层兴奋痕迹的建立,从而对肌体的改善起永久效应,达到康复训练的目的。 Subjected to repetitive movement pattern information to facilitate the establishment of traces of cortical excitability, thereby improving the body plays a permanent effect, achieve the purpose of rehabilitation.

肢体运动信号通过运动辅助器械中力和角度传感器获取,同时肌肉活动信号可通过采集电极获取。 Limb motion signals acquired by the motion sensor a force and angle of the auxiliary equipment, while muscle activity can be obtained by acquiring the signal electrode. 这些信号经处理后送入计算机分析识别,实现运动的闭环控制。 These signals are processed into the computer analysis identifies, closed-loop control of the movement.

本仪器可广泛用于瘫痪病人治疗和功能重建,运动员训练,肌电信号分析诊断及相关的测量控制应用中,具有功能完善、测控精度高、操作简便、治疗效果好的优点。 The instrument can be widely used in the treatment of paralyzed patients and functional reconstruction, athlete training, EMG analysis and diagnosis and associated measurement and control applications, with perfect function, high precision measurement and control, easy operation, the advantages of good therapeutic effect.

图2为本发明的信号发生器组成框图。 FIG signal generator 2 is block diagram of the present invention.

图3为本发明的功率放大器电路图。 3 a circuit diagram of a power amplifier of the present invention.

图4为本发明的电流检测电路图。 4 a circuit diagram of the current detector of the present invention.

图5为本发明的安全保护装置框图。 5 a block diagram of FIG protection safety device of the present invention.

图6为本发明的肌电信号放大器电路原理图。 EMG amplifier circuit diagram in FIG. 6 of the present invention.

图7为本发明的光耦隔离电路图。 Opto isolation circuit diagram of FIG 7 of the present invention.

图8为本发明附属的可测控的上肢运动辅助训练器械示意图。 8 of the present invention may subsidiary arm movement training aid monitoring and control schematic of the instrument.

图9为本发明附属的可测控的下肢运动辅助训练器械示意图。 FIG 9 the present invention may be affiliated lower extremity exercise training aid monitoring and control device schematic.

图10为本发明的信号分析及控制的实现流程图。 10 flow chart for implementing signal analysis and control of the present invention.

本实施例总体结构组成如图1所示,仪器由FNS模块1,EMG、力和角度信号测量模块2,可测控的上下肢运动辅助训练器械3和计算机分析控制部件4组成。 The composition of the present embodiment of the overall configuration shown in Figure 1, the instrument 1 by a module FNS, the EMG, force and angle signal measurement module 2, the exercise assisting monitoring and control of the upper and lower extremities training apparatus 3 and computer analysis control section 4 composed.

FNS模块具有8通道刺激输出,每个通道可独立接受由计算机分析控制部件决策后送出刺激参数(刺激脉冲波形宽度,幅值,频率,刺激时间,间歇时间,刺激次数等),将其送入信号发生器,经功率放大及安全监测隔离后,形成刺激脉冲信号,由刺激电极送入肌肉,带动相应肢体或器官的运动;EMG、力和角度信号测量模块具有8通道肌电信号采集、2通道的肌力信号和2通道角位移信号采集的功能。 FNS stimulation output module has 8 channels, each channel can be independently analyzed by the computer to accept the decision means sends a control parameter stimulation (stimulation pulse width of the waveform, amplitude, frequency, stimulus duration, the time interval, number of times of stimulus), which is fed to signal generator, power amplifier and after isolation safety monitoring, stimulating pulse signal, the stimulating electrode into the muscle, to drive corresponding movement of a limb or organ; the EMG, force and angle measurement module having a signal EMG signal acquisition channel 8, 2 signal strength and channel 2-channel signal acquisition function of the angular displacement. 其中肌电信号由采集电极获得,通过具有平衡对称的差模放大电路的三级放大,经A/D采样后送计算机分析控制部件。 Wherein the EMG signal obtained by the acquisition electrodes, amplified by having three symmetrically balanced differential mode amplifier circuit, the A / D sampling control computer analysis evacuation means.

可测控上下肢辅助训练器械是指用于肘关节和膝关节运动训练的辅助器械,上面各安有一套测量肌力和关节运动角度的传感器,以测量、控制和评估上下肢的运动状况。 Control upper and lower extremities may be assisted training apparatus refers to auxiliary equipment used for sports training knee and elbow, the above each set of security and strength measured articulation angle sensor, to measure, control and evaluation of the exercise condition on the lower extremities.

计算机分析控制部件中计算机是主体,配有相应的分析控制方法。 Computer analysis of the control computer is the main component, with a corresponding analysis control method. 分析控制方法主要对采集到的肌电信号和力、角度信号进行处理分析,给出相应的肌肉评价指标和工作模式,评估肌肉性能、状态并进行动作规划,采用控制算法建立刺激量与规划动作之间的数学关系,进而进行刺激参数规划、送刺激信号,实现FNS闭环控制及肌肉状态的分析评价。 Analysis control method mainly collected and EMG force, an angle signal processing and analysis, to give the corresponding muscle and mode of evaluation, evaluate muscle performance, status and action plan, and plan to establish the amount of stimulation operation using a control algorithm mathematical relationship between, and then stimulated parametric programming, send stimulation signals, analysis and evaluation of FNS achieve closed-loop control and muscle condition.

本仪器自身所具有的自监测、过载保护、电气隔离等性能保证了使用者的安全。 The instrument itself has self-monitoring, overload protection, electrical isolation and other properties to ensure the safety of users. 它开放式的软硬件体系结构,可方便地扩充仪器功能。 It is an open hardware and software architecture that can be easily expanded instrument functions.

下面结合附图对本实施例各组成部分作进一步详细的说明。 The following further detailed description in conjunction with the accompanying drawings of various components of the present embodiment.

一、刺激模块由8个通道组成,各通道均能独立调节刺激幅度,脉宽和脉频,刺激模块一个通道的方块图如图1中所示。 A stimulation module composed of eight channels, each channel can independently adjust the stimulation amplitude, pulse width and pulse frequency, a channel stimulation module block diagram as shown in Fig. 它主要由四部分组成:信号发生器;功率放大器;电流检测电路;安全保护装置。 It mainly consists of four parts: a signal generator; power amplifier; current detecting circuit; safety device. 下面就各部分进行分述。 Described below, each field is divided.

(1)信号发生器精确的信号是实现FNS技术的关键。 (1) a signal generator signal accurately is the key technology of FNS. 该部分主要由晶振、定时器、波形合成、电流放大和电压放大等电子回路组成,如图2所示。 The oscillator is synthesized in part, timers, waveform, voltage amplification, current amplification, and electronic circuits, as shown in Fig.

信号参数(刺激脉冲频率、宽度和幅值)由计算机给出,可编程定时器在晶振控制下产生精确的正向和负向脉冲,信号经合成器的幅值参数调幅以后形成模拟小信号,再经电流和电压放大,形成精度高,稳定性好的刺激脉冲。 Signal parameters (stimulus pulse frequency, width and amplitude) is given by a computer, a programmable timer generates positive and accurate analog form a negative small signal amplitude after the synthesizer parameters to the pulse amplitude modulated signal under control of the crystal, and then the current and voltage amplification, to form a high precision, good stability stimulation pulses. 其各参数完全由计算机精确控制。 Each parameter is fully computer controlled precisely.

(2)功率放大器:输出的刺激脉冲幅值在±150V左右,模拟小信号经过电流放大电路送变压器进行电压放大,同时变压器起到了人机隔离的作用。 (2) PA: stimulation pulse amplitude of the output is about ± 150V, a small analog signal sent via the current amplifying circuit amplifies a voltage transformer, while the man-machine played transformer isolation. 采用2×10W功放电路,该部分的电路原理图见附图3。 Using 2 × 10W amplifier circuit, the circuit schematic of the portion of FIG see Figure 3. 其特点是输出功率大,增益由内电路设定。 Characterized by output power, a gain set by the internal circuit. 具有过热保护和过载保护电路,内设输入静噪抑制电路等。 Overheating protection and overload protection circuit, equipped with an input circuit or the like silence suppression. 变压器是脉冲变压器,采用软磁铁氧体铁芯。 Pulse transformer is a transformer using ferrite cores. 电解电容C是为了防止变压器的自激振荡,且能消除直流偏量。 Electrolytic capacitor C is to prevent self-oscillation of the transformer, and can remove the DC bias amount. 变压器副边ZL是和人体皮肤间的接触阻抗,即负载。 ZL is the transformer secondary and contact between the skin impedance, namely the load. R5为反馈检测电阻,反馈电压为VD。 A feedback resistor R5 is detected, a feedback voltage VD.

(3)电流检测电路:电流检测电路可保持在磁极过程中的恒流或恒压刺激,有更好的安全可靠性和刺激重复性。 (3) The current detection circuit: a current detection circuit can be maintained constant current or voltage stimulation poles process, better reliability and security stimulation reproducibility. 该部分电路图如图4所示。 The partial circuit diagram as shown in FIG.

图中2AP1为二极管,正向压降为0.1V左右,保证小信号不失真。 FIG 2AP1 diode forward voltage drop of about 0.1V, to ensure that the small signal distortion. 由于负载是浮地的,反馈信号须经过光耦4N28。 Since the load is floating, the feedback signal is subject to optocoupler 4N28. CD4051是单8通道模拟开关。 CD4051 is a single 8 channel analog switches. 控制端为A,B,C端,由软件选通相应的信号至CD4051的公共端COM。 The control terminal of A, B, C terminal, the common terminal software strobe signal corresponding to the CD4051 COM. 运算放大器LM1458,二极管2CP2、2CP3,电容CP,数字线D03构成采样保持电路。 An operational amplifier LM1458, diode 2CP2,2CP3, the capacitor CP, the digit lines D03 constituting a sample hold circuit. 当D03为“0”时,LM1458输出端为高电平,开始进行采样,其上的电压是CD4051公共端电压的峰值。 When D03 is "0", LM1458 output is high to begin sampling, the peak voltage on the common terminal voltage of CD4051. 采样后的电压经A/D转换后送至计算机,由计算机控制D/A输出幅值,以达到恒流或恒压输出的目的。 Voltage sampled by A / D converted to a computer, the computer-controlled D / A output amplitude, in order to achieve constant current or voltage output.

(4)安全保护装置由于刺激脉冲直接作用于人体且电压较高,本系统中用硬件自动实现仪器的安全保护,最大程度地保护用户安全。 (4) Because of safety devices act directly on the human body stimulation pulses and high voltage, automatically by the system hardware security instrument, maximize the protection of user security. 图5所示的是系统的安全保护装置,它对功率放大后的刺激脉冲电压进行监测。 Figure 5 shows the system security devices, the stimulus pulse voltage monitoring its power amplification. 一旦电压超出,即产生禁止信号,使刺激信号停止发生,从而起到安全保护作用。 Once the voltage exceeds that generates the inhibit signal to stop the stimulation signal occurs, and thus play a security role.

二、EMG、力和角度信号测量模块由8通道肌电、2通道力、2通道角度测量组成,通过信号的采集和放大,经计算机分析和处理,它既可单独进行肌电和运动分析,实现信号的采集、复现、处理、结果打印等多种功能,又能将分析结果作为反馈信息,从而实现仪器的闭环控制。 Two, EMG, force and angle by a signal measurement module 8-channel EMG, force channel 2, channel 2 composed of angle measurement, by computer analysis and processing, which can be analyzed separately by electromyographic and motion capture and signal amplification, to achieve signal acquisition, reproduction, processing, and other functions printing results, but the analysis result as feedback information for closed loop control of the instrument. 系统方块图如图1中所示。 System block diagram as shown in Fig. 其特征为:(1)具有8通道肌电信号输入,可以实时地完成肌电信号的采集、记录和处理,既可作FNS闭环控制,又能单独为肌肉性能和状态作评估,通过设定的阶跃、斜坡和其它测试信号建立肌肉电刺激量和肌肉骨骼运动之间的数学关系。 Wherein: (1) having an input EMG signal channels 8, can be done in real-time acquisition of EMG signals, recording and processing not only for FNS closed-loop control can be assessed separately for the muscle performance and status, by setting the step, ramp signals and other tests to establish the mathematical relationship between the amount of electrical stimulation of the muscles and skeletal muscle movement.

(2)外界干扰对EMG信号的干扰是非常大的,根据表面肌电的特点和相应放大回路要求,设计成如图6所示的肌电信号放大电路。 (2) interference disturbance EMG signal is very large, the characteristics of surface EMG amplifier circuit and the respective requirements, is designed to EMG amplifier circuit 6 shown in FIG. 它由三级放大,光电耦合隔离,共模自举和二次稳压,电源隔离变换等回路组成,具有以下特点:1、采用两组平衡对称放大器,利于提高共模抑制比;2、输入端采用场效应管,且接成同相端输入,输入阻抗很高;3、将电容并联于反馈电阻两端,直流分量负反馈增强,增益接近于1,防止由于直流分量大于交流分量引起电路饱和,保证电路工作正常;4、采用了共模自举技术,消除电缆发布电容不平衡的影响,同时达到抑制共模信号的影响的作用;5、该电路采用了二次稳压,保证电路的平衡对称;6、该电路的总增益可达100dB,差模输入阻抗大于500MΩ,频率响应为10Hz~5kHz。 It is amplified by three photocoupler isolation, common mode bootstrap and secondary regulation, power isolation circuit composed transform, has the following characteristics: 1, using two sets of symmetrical balanced amplifier, help to improve the common mode rejection ratio; 2, input end of the FET used, and then into in-phase input terminal, the input impedance is high; 3, the enhanced negative feedback capacitor in parallel across the resistor in the feedback, the DC component, the gain is close to 1, to prevent the DC component is greater than the alternating current component caused by circuit saturation , ensure that the circuit is working properly; 4, using the common mode bootstrap technique, to eliminate the influence of the cable release capacitive unbalance, while achieving suppression of common mode signal effects; 5, the secondary voltage regulator circuit uses to ensure that the circuit symmetrical balance; 6, a total of up to 100dB gain of the circuit, differential input impedance greater than 500M, the frequency response of 10Hz ~ 5kHz.

EMG模块中还包括力信号和角度信号的处理电路。 EMG module also includes signal processing circuitry, and a force angle signal.

(3)为确保人身和设备的安全,本系统采用了浮地技术,与病人直接联系的导线,前置放大器和电源,仪器和计算机都有良好的隔离,耦合电容小于100pf,绝缘电阻大于1000MΩ。 (3) To ensure the safety of persons and equipment, the system uses the floating technique, direct contact with the patient's wire, preamplifier and power meter and the computer has a good isolation, the coupling capacitance is less than 100pF, insulation resistance greater than 1000MΩ . 肌电放大部分的电源和地都是经过DC/DC变换得到的,而放大器的输出信号则经过光电耦合再送给计算机处理,整个放大处理部分与人体接触的部分与计算机分析控制部分完全隔离。 EMG power amplification section and are ground through DC / DC converter obtained, and the output signal of the amplifier is then sent via the photocoupler computer processing, computer processing the entire enlarged portion of the human body portion in contact with the analysis control section completely isolated. 该部分电路图如图7所示。 The partial circuit diagram as shown in Fig. 为了防止负信号的丢失,在光电耦合之前,通过RW1,加正向偏置,保证所有信号均能通过光耦。 To prevent the loss of a negative signal, prior to the photocoupler through the RW1, forward-biased, can ensure that all signals through the optocoupler. 光耦4N28输出的是正向小信号,故先经电容C隔直,再经运算放大器LM444放大至所需幅值。 4N28 optocoupler output is a small positive signal, so the first through the blocking capacitor C, and then amplified to a desired amplitude by an operational amplifier LM444.

三、可测控的上下肢运动辅助训练器械如图8和图9所示运动辅助训练器械,分别用于上肢和下肢的训练,可作为测量、训练、康复评定和控制之用。 Third, on a monitoring and control lower limb exercise assisting sports training apparatus shown in FIG. 8 and 9 aid training apparatus for training each of the upper and lower limbs, as measured, training, rehabilitation assessment and control purposes. 辅助装置中带有多个力传感器21和角度传感器22,用于运动信息的测量及运动轨迹的反馈控制。 Assist device having a plurality of force sensors 21 and the angle sensor 22, and feedback control used to measure the trajectory of the motion information.

四、计算机实现信号分析及控制命令规划生成此部分工作原理见图10。 Fourth, the computer for signal analysis and planning generates control commands This section works shown in Figure 10. 首先各种信号(肌电信号、力信号和角度信号)从受试者或病人中获取,送入分析处理单元,其实时或离线处理结果一方面可作分析报告给出,另一方面送入控制单元。 First, various signals (EMG signal strength and angle signals) acquired from a subject or patient, into the analysis processing unit, or can be used off-line processing result on the one hand gives real-time analysis, on the other hand into control unit. 然后与预期的动作规划一起经控制方法分析,规划出刺激参数。 Then with the control method by the analysis with the expected action plan, the plan stimulation parameters. 最后将刺激参数经刺激生成单元送受试者。 Finally, the stimulation parameters by the stimulation generation unit to send the subject. 其中涉及信号处理和控制方法两大关键问题。 Which involves two key issues signal processing and control methods.

1、信号处理主要是指肌电信号处理。 1, the signal processing is mainly EMG signal processing means. 肌电信号处理的目的大致可分为两类:肌肉状态的评价和肢体动作的模式识别。 The purpose EMG signal processing can be broadly divided into two categories: assessment and body movements of the muscles of the state of pattern recognition.

肌肉状态识别方面,系统给出了六个特征参数:平均频率、中值频率、过零次数、平均幅值、均方根幅值和标准幅值。 Muscle state recognition, the system gives the six characteristic parameters: average frequency, median frequency, zero crossing number, the average amplitude, rms amplitude and the standard amplitude. 其中平均频率、中值频率和过零次数是信号的频率特征,反映了肌肉的传导速率,与肌肉疲劳有密切关系;平均幅值、均方根幅值和标准幅值是信号的能量特征,能反映肌肉收缩的力度。 Wherein the average frequency, the median frequency and the zero crossing frequency and the frequency characteristic signal reflects the muscle conduction velocity, and is closely related to muscle fatigue; average amplitude, rms amplitude and the standard amplitude characteristics of the signal energy, reflect the strength of muscle contraction. 它们的计算方法如下:平均频率ω:&omega;-=&Integral;0&infin;&omega;P(&omega;)d&omega;&Integral;0&infin;p(&omega;)d&omega;,]]>其中P(w)是信号的功率谱密度函数中值频率wm:&Integral;0&omega;mP(&omega;)d&omega;=&Integral;&omega;m&infin;P(&omega;)d&omega;]]>过零次数m:设肌电信号序列是x,则判断相邻两点是否过零的条件是:xj>0且xj+1<0或xj<0且xj+1>0,且|xj-xj+1|≥噪声阈值平均幅值x:x-=1T&Integral;0Tx(t)dt,]]>其中x(t)为肌电信号均方根幅值xrms:xrms=1T&Integral;0Tx(t)2dt]]>标准幅值xstd:xstd=1T&Integral;0T(x(t)-x-)2dt]]>肢体动作模式识别方面采用AR建模方法,通过模型系数进行动作模式识别,同时其系数可用于计算功率谱密度函数,从而算出相应一些频域特征参数。 Which is calculated as follows: mean frequency ω: & omega; - = & Integral; 0 & infin; & omega; P (& omega;) d & omega; & Integral; 0 & infin; p (& omega;) d omega &;,]]> where P (w) is the signal power spectral density function of the value of the frequency wm: & Integral; 0 & omega; mP (& omega;) d & omega; = & Integral; & omega; m & infin; P (& omega;) d & omega;]]> zero crossing times m: provided EMG sequence x, through adjacent points is determined whether the zero condition is: xj> 0 and xj + 1 <0 or xj <0 and xj + 1> 0, and | xj-xj + 1 | ≥ the average amplitude noise threshold x: x - = 1T & Integral; 0Tx (t) dt,]]> where x (t) is the EMG rMS amplitude xrms: xrms = 1T & Integral; 0Tx (t) 2dt]]> normalized amplitude xstd: xstd = 1T & Integral; 0T (x (t) -x-) 2dt]]> body movement pattern recognition method using the AR model, the pattern recognition operation performed by the model coefficients, and coefficients used to calculate the power spectral density function, thereby calculating respective ones of the frequency domain Characteristic Parameters. 对于表面肌电信号,其AR模型可表示为,x(n)=-&Sigma;k=0pakx(nk)+u(n)]]>其中p为模型阶数,一般取4~5阶,x(n)为信号,u(n)为白噪激励。 For surface EMG which AR model can be expressed as, x (n) = - & Sigma; k = 0pakx (nk) + u (n)]]> where p is the model order, generally take 4 to 5 order, x (n) is the signal, u (n) is a white noise excitation.

模型计算采用高精度Levinson-Durbin算法。 Model accurately calculated using Levinson-Durbin algorithm. 该方法采用使模型阶次由1逐次递增的递推算法,其优点除能减少计算工作量外,还便于找到最优的阶次p。 The method makes use of a model order of incrementing a recursive algorithm, which can reduce the computational workload in addition to the advantages, but also easy to find the optimal order of p.

2、仪器的目的之一是对瘫痪肢体运动的闭环控制。 2, one of the purposes of the instrument is closed-loop control of the movement of paralyzed limbs. 系统采用很新的迭代学习控制方法,实现了上肢肘关节运动的准确闭环控制。 The system uses very new iterative learning control method to achieve accurate closed-loop control the upper extremity elbow movement.

学习迭代控制器是针对线性时变系统的D型迭代学习控制器,形式为:ui+1(t)=ui(t)+L(y&amp;d(t)-y&amp;i(t))ui+1(t)是第i+1次控制器的输出,L是学习因子,yd(t),yi(t)分别是系统的期望输出和第i次输出。 Learning iteration controller is for varying systems D-type iterative learning controller, in the form: ui + 1 (t) = ui (t) + L (y & amp; d (t) -y & amp; i (t)) ui +1 (t) is the output of the i + 1 of the controller, L is a learning factor, yd (t), yi (t) are the desired output of the i-th output of the system. ILC已用于机器人重复操作控制,如喷漆、抓持;电机控制以及硬盘、光盘驱动系统控制,特别是在具有重复运动轨迹跟踪控制方面取得了明显控制效果。 ILC has been repeated for the robot control operation, such as painting, grasping; control motor and a hard disk, an optical disk drive control system, in particular having a repetitive motion trajectory control achieved remarkable performance tracking control. 但本仪器将其用于人类肢体运动控制尚属首次。 However, this instrument will be used for the first time a human limb movement control.

采用的PD+ILC的算法如下:Z(i+1)(t)=Z(i)(t)+kpe(i)(t)+kd&amp;(i)(t)+ kpe(i)(t)其中Z(t)为控制器输出,i为迭代次数, kp是学习增益,kp,kd是PD控制器的系数,e(t)=θd(t)-θ(t),θ(t)是实测角度,θ(t)是期望角度。 PD employed + ILC following algorithm: Z (i + 1) (t) = Z (i) (t) + kpe (i) (t) + kd & amp; (i) (t) + kpe (i) (t ) where Z (t) is the controller output, i is the number of iterations, kp is the learning gain, kp, kd is the coefficient of the PD controller, e (t) = θd (t) -θ (t), θ (t) Found angle is, θ (t) is the desired angle. 当kp为0,上式即退化为PD控制。 When kp is 0, the formula reduces to i.e. PD control. 结果表明:采用迭代学习控制,算法简单,参数易调整,控制量变化平缓,刺激时受试者感觉舒服,且轨迹跟踪精度高,比PD控制器有更好的控制效果。 The results show that: the use of iterative learning control algorithm is simple, easy to adjust parameters to control the amount of changes gently stimulate when subjects feel comfortable, and high precision tracking, better control results than PD controller.

Claims (3)

1.一种功能性神经肌肉电信号识别和刺激的康复训练仪器,其特征在于,包括FNS模块,EMG、力和角度信号测量模块,由计算机及控制软件组成的计算机分析控制部件,以及连于上下肢运动辅助训练器械的多组力和角度信号传感器;所说的FNS模块输入端与所说的计算机分析控制部件相连,其输出端具有多个相互独立的电脉冲刺激通道及与之相连的刺激电极,所说的EMG、力和角度信号测量模块的输入端连有与所说的电脉冲刺激通道数目相同的肌电信号采集电极且与所说的力和角度信号传感器相连接,其输出端与所说的计算机分析控制部件相连接。 1. A functional neuromuscular stimulation signal classification and rehabilitation training apparatus, characterized by comprising FNS module, EMG, force and angle signal measurement module, computer analysis and control means controlled by the computer software components, and connected to the multi-angle signal and the set of force sensors lower limbs training aid equipment; FNS modules of said input end of said control member is connected to the computer analysis, an output terminal having a plurality of independent electrical pulse stimulation channels connected thereto and stimulation electrode, an input terminal of said EMG, force and angle signal measurement module connected to said electrical pulses have the same number of channels muscle stimulation signal acquisition and is connected to an electrode of said force signal and angle sensor, which outputs with said end member is connected to the control computer analysis.
2.如权利要求1所述的康复训练仪器,其特征在于,所说的FNS模块的每一个通道由接收所说的计算机的控制信号并产生电脉冲信号的信号发生装置,对该电脉冲信号进行放大的功率放大器,对该放大的信号的安全控制的安全保护装置以及使该信号发生装置达到恒流或恒压输出的电流检测电路组成。 2. The apparatus as claimed in rehabilitation training according to the electric pulse signal in claim 1, characterized in that the control signal of said each channel by the receiving module FNS said computer signal generating means and generating an electrical pulse signal, a power amplifier for amplifying, the safety device of the safety control signal amplifying circuit and a current detecting means reaches a constant current or voltage output of the signal generating composition.
3.如权利要求1所述的康复训练仪器,其特征在于,所说的EMG、力和角度信号测量模块包括对采集的信号进行放大的平衡对称的差模三级放大电路,连于放大电路的输出端的光电耦合器及A/D转换器。 3. The rehabilitation apparatus according to claim 1, wherein said EMG, force and angle signal measurement module comprises three differential amplifying circuit for amplifying the signal acquisition symmetrical balance, connected to the amplifying circuit photocoupler and the output of a / D converter. 该测量模块具有多个通道与所说的肌电信号采集电极、肌力信号和角位移信号传感器相连。 The EMG measurement module having a plurality of channels with said collection electrode is connected to a signal strength signal and the angular displacement sensor.
CN 98125084 1998-12-04 1998-12-04 Functional neuromyo-electric signal identification and stimulation apparatus CN1089011C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 98125084 CN1089011C (en) 1998-12-04 1998-12-04 Functional neuromyo-electric signal identification and stimulation apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 98125084 CN1089011C (en) 1998-12-04 1998-12-04 Functional neuromyo-electric signal identification and stimulation apparatus

Publications (2)

Publication Number Publication Date
CN1215614A CN1215614A (en) 1999-05-05
CN1089011C true CN1089011C (en) 2002-08-14

Family

ID=5229014

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 98125084 CN1089011C (en) 1998-12-04 1998-12-04 Functional neuromyo-electric signal identification and stimulation apparatus

Country Status (1)

Country Link
CN (1) CN1089011C (en)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2494363C (en) 2002-08-22 2009-04-28 Victhom Human Bionics, Inc. Positioning of lower extremities artificial proprioceptors
EP2535024B2 (en) 2002-08-22 2019-01-16 Victhom Human Bionics Inc. Actuated prosthesis for above-knee amputees
EP1765155A4 (en) 2004-05-25 2011-08-31 Andrew J Ronchi Apparatus and method for monitoring strain and/or load applied to a mammal
SE528516C2 (en) 2005-04-19 2006-12-05 Lisa Gramnaes Combined active and passive leg prosthesis and a method for performing an operating cycle of such a system
CA2676067C (en) 2007-01-19 2017-06-20 Victhom Human Bionics, Inc. Reactive layer control system for prosthetic and orthotic devices
CN101243967B (en) 2007-02-16 2012-04-11 上海塔瑞莎健康科技有限公司 Implantation type electrostimulation information feedback device
CN101244312B (en) 2007-02-16 2012-06-20 上海塔瑞莎健康科技有限公司 Implantation type self-feedback regulating nerve muscle electrostimulation system
US20090043357A1 (en) * 2007-08-07 2009-02-12 The Hong Kong Polytechnic University Wireless real-time feedback control functional electrical stimulation system
CN102036626B (en) 2008-03-24 2014-07-02 奥瑟Hf公司 Transfemoral prosthetic systems and methods for operating the same
CN101391129B (en) 2008-07-21 2012-01-18 天津大学 Brain-machine interface intelligentized upper-limb recovery training device based on P300 signal and signal processing method
CN102139139A (en) * 2011-01-13 2011-08-03 中国医学科学院生物医学工程研究所 Myoelectric feedback control electric stimulation device and control method thereof
CN102641129A (en) * 2011-02-18 2012-08-22 上海理工大学 Device for acquiring myosthenic and myoelectric signals in real time and simultaneously displaying myosthenic and myoelectric signals
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US9044346B2 (en) 2012-03-29 2015-06-02 össur hf Powered prosthetic hip joint
CN102649003B (en) * 2012-04-18 2015-08-26 上海诺诚电气有限公司 EMG feedback stimulus based on the constant current stimulus circuit
CN103418083B (en) * 2012-05-25 2015-09-23 上海得高实业有限公司 Active feedback and working methods Stimulator
CN102716000B (en) * 2012-06-29 2015-03-25 中国科学院自动化研究所 Seated horizontal type lower limb rehabilitation robot
CN102716002B (en) * 2012-06-29 2015-03-18 中国科学院自动化研究所 Seated and recumbent type lower limb rehabilitation robot
EP2967920A4 (en) 2013-03-14 2016-11-30 Ossur Hf Prosthetic ankle: a method of controlling based on adaptation to speed
CN103272328B (en) * 2013-04-28 2016-01-13 苏州市职业大学 physiotherapy xp embedded systems based on electrical impedance of biological mechanism
CN103300853B (en) * 2013-06-15 2015-01-14 浙江大学 Diagnosis and treatment system based on surface myoelectricity
CN103691059B (en) * 2013-12-27 2015-12-09 中国科学院自动化研究所 Rehabilitation based on the electrical stimulation apparatus and method for angle information feedback control EMG
CN104523270A (en) * 2014-12-18 2015-04-22 深圳先进技术研究院 Electromyographic signal analyzing method and system
CN104799842A (en) * 2015-04-28 2015-07-29 山东威高集团医用高分子制品股份有限公司 Nerve monitor
CN106037731A (en) * 2016-07-06 2016-10-26 湖南天羿领航科技有限公司 Intelligent garment for improving training effect and method thereof
CN107398011B (en) * 2017-08-18 2018-11-13 广东美的安川服务机器人有限公司 Stimulating a biological feedback device

Also Published As

Publication number Publication date
CN1215614A (en) 1999-05-05

Similar Documents

Publication Publication Date Title
Crochetiere et al. Electrical stimulation of skeletal muscle—A study of muscle as an actuator
Hoffer et al. Neural signals for command control and feedback in functional neuromuscular stimulation: a review
Vodovnik et al. Control of a skeletal joint by electrical stimulation of antagonists
Simonsen et al. Amplitude of the human soleus H reflex during walking and running
Jewett et al. Human auditory evoked potentials: possible brain stem components detected on the scalp
US7209788B2 (en) Closed loop brain machine interface
Lynch et al. Functional electrical stimulation
US4690142A (en) Method and system for utilizing electro-neuro stimulation in a bio-feedback system
US5277197A (en) Microprocessor controlled system for unsupervised EMG feedback and exercise training
Ivanenko et al. Temporal components of the motor patterns expressed by the human spinal cord reflect foot kinematics
US9272139B2 (en) Universal closed-loop electrical stimulation system
Carroll et al. Reliability of the input–output properties of the cortico-spinal pathway obtained from transcranial magnetic and electrical stimulation
US20080234781A1 (en) Neuromuscular Stimulation
US7221980B2 (en) Electrostimulation system with electromyographic and visual biofeedback
Wetts et al. Cerebellar nuclear cell activity during antagonist cocontraction and reciprocal inhibition of forearm muscles
Graupe EMG pattern analysis for patient-responsive control of FES in paraplegics for walker-supported walking
US4811742A (en) Proportional response electrical muscle stimulation
Doerschuk et al. Upper extremity limb function discrimination using EMG signal analysis
Birch et al. Initial on-line evaluations of the LF-ASD brain-computer interface with able-bodied and spinal-cord subjects using imagined voluntary motor potentials
Hart et al. A comparison between control methods for implanted FES hand-grasp systems
Jiang et al. Extracting simultaneous and proportional neural control information for multiple-DOF prostheses from the surface electromyographic signal
US20050192567A1 (en) Nervous tissue stimulation device and method
Hudgins et al. A new strategy for multifunction myoelectric control
Shannon A myoelectrically-controlled prosthesis with sensory feedback
US5507788A (en) Method and apparatus for controlling skeletal muscle fatigue during electrical stimulation

Legal Events

Date Code Title Description
C10 Request of examination as to substance
C06 Publication
C14 Granted
REG Reference to a national code

Ref country code: HK

Ref legal event code: GR

Ref document number: 1049553

Country of ref document: HK

C19 Cessation of patent right (cessation of patent right due to non-paymentof the annual fee)