CN109876295A - Multichannel drop foot dynamic electrical stimulation walking-assisting device and its control method based on Internet of Things - Google Patents
Multichannel drop foot dynamic electrical stimulation walking-assisting device and its control method based on Internet of Things Download PDFInfo
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Abstract
The present invention relates to electronic stimulation fields, especially a kind of walk help instrument that walking posture is corrected by the electro photoluminescence of multichannel and based on Internet of Things matching, the walk help instrument control method of the electro photoluminescence correction walking posture based on multichannel is also disclosed simultaneously, the dynamic output timing for adjusting electro photoluminescence and slight can be achieved, the risk of patient's tumble can be greatly lowered, be mainly used for electric stimulation rehabilitation field of physical therapy.
Description
Technical field
It is especially a kind of by the electro photoluminescence of multichannel and based on Internet of Things the present invention relates to electronic stimulation field
Match to correct the walk help instrument of walking posture, while also disclosing the walk help instrument control of the electro photoluminescence correction walking posture based on multichannel
Method processed.
Background technique
Functional electrostimulation is widely used in gait function rehabilitation field, by being located at the more of patient's lower limb corresponding site
Group electrode, which issues low frequency pulse current, stimulates muscle, muscular movement or simulation autokinetic movement is induced, to reach the mesh of rehabilitation physical therapy
's.Trigger in posture correction is equivalent to the switch of control low-frequency current, for controlling the output of stimulated current, stopping, so
Low-frequency current with single channel or multichannel by being reached at electrode afterwards.
At present on the market or the walk help instrument of document record, be all using functional electrostimulation, to lower limb inconvenient walking person into
Row rehabilitation, but the control mode of low frequency stimulating electric current and stimulus intensity are easy to cause in the early period of patient for treatment
Patient's tumble, the number of falls for increasing patient, in a period of not adapting to therapeutic modality or electric current stimulus intensity especially.Tradition helps
The control mode and stimulus intensity of the frequency stimulated current of row instrument are broadly divided into two kinds, i.e., fixed and contrast.It is fixed
In the case of, the control mode of low frequency stimulating electric current is fixation, can not be adjusted, and this walk help instrument cannot be for patient's
Gait situation is changed, and when use, more patient did not adapted to, and is easy to cause patient to fall, and it is low to correct success rate；Comparison
Formula is then the gait information and standard gait information by acquiring patient, according to patient's gait information and standard gait information
Difference determines the control mode and output intensity of low frequency stimulating electric current, and this walk help instrument is more fixed can be according to the specific of patient
Situation voluntarily exports control mode and low-frequency current stimulus intensity, but the stimulus intensity of its control mode and low-frequency current is still
It cannot intervene, whole process is voluntarily judged to execute by machine.Being still had using the contrast walk help instrument of gait causes patient to be easy to fall
The problem of, exists, normal data at the beginning of foundation using the gait information of normal person, and it is multifarious the case where patient,
The difference of its gait parameter varies, although machine can formulate corresponding Remedy strategy for difference, has ignored strong
At correction initial stage, the gait parameter and standard gait parameter of some patientss are poor for the adaptability problem of patient during just, i.e. patient
Away from larger, the difference that machine contrasts is difficult to adapt to for patients, it is easy to cause to fall, and some patientss are due to depositing
In the difference of the complexity such as patience, health degree, simple standard gait information and patient's gait information difference are still had not
The problem of adapting to patient's concrete condition.Therefore the electric-impulse stimulation intensity of above two mode and control mode still can not fit
All users are closed, can not be adjusted according to user's real-time gait feature, there is the risk for being easy to cause patient to fall.
Summary of the invention
For above situation, the multichannel drop foot dynamic electro photoluminescence walk help based on Internet of Things that present invention firstly provides a kind of
Device, it is therefore intended that low-frequency current stimulus intensity and control cannot be adjusted according to patient's concrete condition by solving traditional walking aid device
The problem of mode processed is adjusted, patient is easy to cause to fall.
Its technical solution is, including server end, WEB terminal, host side, initiator end, electrode and sensor side；The biography
Sensor end is configured to the initial parameter information of lower limb posture when measurement patient's walking, and above-mentioned initial parameter information is sent out
Send the signal receiving end for being transmitted to host side；The multi-group electrode be configured to patient's lower limb walk needed for muscle group/
Group is bonded and gives conductive structure；The initiator end is configured as receiving the instruction from host side sending and according to instruction
It controls one or more groups of electrodes and issues or stop electro photoluminescence；The host side, which is configured to receive, manually controls instruction to touching
It sends out device end and issues electro photoluminescence control sequential column corresponding with instruction is manually controlled and low-frequency current stimulus intensity；The server end
Correction big data RNN Recognition with Recurrent Neural Network module and GRU gating cycle unit networks mould are treated using the same type patient of rehabilitation
Block obtains exportable each electrode output node time series and exports the control algolithm of intensity of electric stimulus；The host side includes signal
Receiving module, signal issue module and signal processing module, and the signal receiving module is used for the letter that receiving sensor end issues
Number and the signal from server-side, the signal processing module be configured as to description patient's lower limb from sensor side
The raw information of walking posture is handled to obtain the standard posture information for meeting setting rule of description patient's lower limb walking；Institute
It states standard posture information and server end is sent to by signal sending module, the server end passes through standard posture information defeated
Enter control algolithm and obtains exportable recommended therapy scheme of each electrode output comprising node time series and output intensity of electric stimulus；Institute
The data that WEB terminal is configured to shared server end are stated, it includes electro photoluminescence that the WEB terminal, which is configured as sending to host side,
The control information of control sequential column and low-frequency current stimulus intensity, the control information by the signal receiving module of host side into
Row receives, and the control information control trigger end, which issues, corresponds to the control that one or more groups of electrodes issue or stop electro photoluminescence
Instruction.
In one embodiment, sensor side includes the array of pressure sensors gone out positioned at vola, the pressure sensor battle array
Column are configured as the signal of pressure distribution and pressure variety at measurement patient's sole；It further include for measuring ankle-joint acceleration
The acceleration transducer of information；It further include for measuring the angular-rate sensor for painting joint angles amount of deflection when patient takes a step；Respectively
The physical quantity variation of patient's lower limb is converted electric signal, as the initial parameter information by the sensor.
In one embodiment, the host side is additionally configured to record the device of each sensor use information, each sensor
Each parameter information of use information and patient's lower limb posture information by simultaneously by signal transmitting module be sent to server end with
It is stored in the memory module of host side.
In one embodiment, the WEB terminal is configured as patient's lower limb posture information at display and management server end
Data, the usage record information of patient's instrument.
For above situation, the multichannel drop foot dynamic electro photoluminescence controlling party based on Internet of Things that the present invention also provides a kind of
Method, it is therefore intended that low-frequency current stimulus intensity and control cannot be adjusted according to patient's concrete condition by solving traditional walking aid device
The problem of mode is adjusted, patient is easy to cause to fall.
Its technical solution is that above-mentioned initial parameter information is sent the signal reception for being transmitted to host side by the sensor side
End；Signal processing module will obtain description patient's lower limb posture letter after the initial parameter information processing of each sensor of acquisition
The gait feature parameter of breath, i.e. the standard posture information；The gait feature parameter of each sensor is according to setting
Time series inputs RNN Recognition with Recurrent Neural Network modular algorithm, and the output section of corresponding each group electrode is obtained by Recognition with Recurrent Neural Network module
Point time series；The gait feature parameter of each sensor inputs GRU gating cycle unit networks according to setting time series
Module establishes the Dynamic Signal of functional electrostimulation intensity；Output node time series and the stimulation of the low-frequency current of each group electrode are strong
It spends the functional information cooperatively formed actively or by the signal receiving module of host side to receive, and the control through being located in initiator end
The multichannel dynamic of module generating functionality electro photoluminescence controls；The WEB terminal is determined according to reference scheme and Couple herbs and is rectified
Positive therapeutic strategy, the corrective therapy strategy actively or passively can be sent to master by the signal receiving module being located in host side
Generator terminal；The initiator end is configured as receiving the instruction from host side sending and controls one or more groups of electrodes according to instruction
Issue or stop electro photoluminescence；The host side, which is configured to receive, manually controls instruction to initiator end sending and control manually
System instructs corresponding electro photoluminescence control mode and intensity.
The present invention disagrees the walking aid device recorded in market or document, and this programme is combined similar by neural network algorithm
Treatment data in the entire treatment stage of type patient provides reference treatment scheme, and corresponding reference treatment scheme while quilt
WEB terminal is shared and is managed, and the medical staff positioned at WEB terminal can intervene at any time in conjunction with patient's concrete condition and Couple herbs
With adjustment therapeutic scheme, the control tune that medical staff can be directly long-range according to the concrete condition of patient in entire therapeutic scheme
The therapeutic scheme of patient is saved, and can monitor and consult at any time the entire correcting process of patient.
Detailed description of the invention
The functional block diagram of walking aid device Fig. 1 of the invention.
Specific embodiment
For the scheme of further description this patent, in conjunction with attached drawing by following embodiment or embodiment to this law
Bright scheme is described in further detail.
In some embodiments, including server end 1, WEB terminal 6, host side 2, initiator end 3, electrode 4 and sensor side
5.Server end 1 uses cloud server, the WEB terminal 6 by TCP/IP communications protocol or other network communication modes with
1 communication connection of server end, WEB terminal 6 are configured as to show, consult, manage, the shared file positioned at server end 1, figure
The data such as piece, document, audio, video, especially with regard to the data of patient treatment protocol.Cloud server is also used to operation control
Algorithm, operation control algorithm include RNN Recognition with Recurrent Neural Network module and GRU gating cycle unit networks module, and control algolithm is used
In by patient data recommended therapy scheme corresponding with the conscientious matching generation of the big data of similar patient, the data of similar patient are
The good patient data with equivalent diseases for the treatment of results, the patient data include each treatment stage during entire treatment
4 output node time series of each electrode and intensity of electric stimulus, the output node sequence be each electrode 4 output order and
Duration is exported, the data of similar patient are mainly used for Training Control algorithm and the recommended therapy scheme of the output of control algolithm is connect
Close or be equal to ideal treatment scheme, while recommended therapy scheme is shown in WEB terminal 6, the medical staff positioned at WEB terminal 6 can be with
When regulate and control therapeutic scheme.
In the above-described embodiment, have signal transmitting and receiving module, the signal transmitting and reception mould in host side 2
Block can be located at the sensor in patient vola, ankle, knee joint etc. to include but is not limited to WIFI module in sensor side 5
The signal that perception obtains description patient's lower limb walking posture information is transmitted by bluetooth or wired or wireless communication modes
To host side 2, digital signal is formed after noise reduction, sampling, normalization, the digital signal forms description patient's gait information
Gait feature parameter cloud server is transmitted to by WIFI or other communication modules, via cloud server control calculation
Method carries out calculation process and obtains recommended therapy scheme.
In above-mentioned some embodiments, host side 2 further includes memory module, and memory module is used to store the gait of patient
The use information of characteristic parameter and each sensor, such as use time, access times information, above-mentioned gait feature parameter and reality
Pass through WIFI simultaneously with information or other communication modules are transmitted to cloud server, and individual is established for counting by cloud server
According to library, for the access of WEB terminal 6.
It in some embodiments, further include user terminal 7, user terminal 7 can access cloud service by TCP/IP communications protocol
Device, searching and managing are located at patient treatment protocol's information of cloud server, usage record information, and user terminal 7 can set and manage
It manages patient treatment protocol and generates new therapeutic scheme and be sent to host side 2 by being located at the WIFI module of host side 2.
In some embodiments, host side 2 and initiator end 3 can be integrated in same electronic equipment, and host side 2 is configured
For the device with display module, display module shows human-computer interaction interactive interface so that user operates or consults treatment side
Case information, usage record information etc., the therapeutic scheme information, usage record information are stored in depositing positioned at host side 2
It stores up in module；The initiator end 3 includes control module, and the control module is wrapped for controlling electric stimulation pulse output parameter
Include and the corresponding frequency of output node timing and amplitude corresponding with intensity of electric stimulus.
In some embodiments, its noise reduction of the electric signal of sensor side 5 respectively sensed, sampling, normalization are in its sensing
Device end 5 is completed, and sensor side 5 includes bluetooth communication and microprocessor module at this time, and the microprocessor module is used for will
The electric signal of each sensor is converted to digital signal, and is transmitted to host side 2 by bluetooth communication.
In the specific use process, walking aid device mainly includes that terrace part and entity apparatus two large divisions form,
Middle terrace part is made of WEB terminal 6, user terminal 7 (cell phone application) and cloud server；And entity apparatus part is by host, position
It is formed in the trigger in vola and one or more groups of stimulating electrodes 4；It is connected between host and stimulating electrode 4 by conducting wire, it is main
Machine, by bluetooth connection, passes through the Wifi connection of 2.4GHZ with the pressure sensor for being located at vola between host and platform.
The acceleration information acquired by acceleration transducer, the angular speed amount of deflection of angular-rate sensor acquisition, pressure pass
The pressure variety of sensor acquisition obtains the gait feature curve graph and threedimensional model of user.Again by control algolithm to mould
Type is compared, and tentatively show that the treatment reference scheme of user is referred to for personnel, while recording all parameters of patient
With service condition, forms statistical chart and comparison is facilitated to improve situation.WEB terminal 6 is special by all data in network management cloud, and from cloud
End downloads and shows the therapeutic scheme information of patient, while can also have access to real-time use state, instrument parameter and usage record, makes
Being compared with front and back improves situation, in order to which patient adjusts rehabilitation training scheme in due course.7 operation interface of user terminal passes through Wifi from cloud
Download and show that user's real time information, use state, walking step number, travel time, the real-time output parameter of instrument, gait are bent in end
Line chart etc., and the operating parameter and control command of instrument can be changed manually by user terminal 7.
Pressure sensor in the trigger of vola is main for acquiring pressure distribution and the variable quantity of user's sole in real time
Acceleration transducer in machine for acquiring ankle-joint acceleration information when user takes a step in real time, and angular-rate sensor is for real
When acquisition user knee angle speed amount of deflection when taking a step.
It include RNN Recognition with Recurrent Neural Network module and GRU gating cycle unit networks module in control algolithm.MCU in host
Foot force signal, ankle-joint acceleration signal, knee angle speed signal will be received and be converted to gait feature parameter, passed through
The cycling element or all cycling elements of the single timing of RNN Recognition with Recurrent Neural Network module, by given sequence input pickup number
According to, then establish by GRU gating cycle unit networks module the Dynamic Signal of functional electrostimulation intensity.
The stimulating electrode 4 uses 4, magnet hook type electrode in some embodiments, and pressure sensor is multiple spot diaphragm type pressure
Force snesor, acceleration transducer are piezoresistance type acceleration sensor, and angular-rate sensor is three coordinate gyroscope angular speed biography
Sensor, WEB terminal 6 be the various systems of PC software support and version, user terminal 7 be smart phone or tablet computer, can support include
But it is not limited to Android, the Saipan IOS system.
The present invention disagrees the walking aid device recorded in market or document, and this programme is combined similar by neural network algorithm
Treatment data in the entire treatment stage of type patient provides reference treatment scheme, and corresponding reference treatment scheme while quilt
WEB terminal 6 is shared and is managed, and the medical staff positioned at WEB terminal 6 can do at any time in conjunction with patient's concrete condition and Couple herbs
Pre- and adjustment therapeutic scheme, the control that medical staff can be directly long-range according to the concrete condition of patient in entire therapeutic scheme
The therapeutic scheme of patient is adjusted, and can monitor and consult at any time the entire correcting process of patient.
Claims (5)
1. walking aid device, including server end 1, WEB terminal 6, host side 2, initiator end 3, electrode 4 and sensor side 5；
The sensor side 5 is configured to the initial parameter information of lower limb posture when measurement patient's walking, and by above-mentioned original
Beginning parameter information sends the signal receiving end for being transmitted to host side 2；
The multi-group electrode 4 is configured to the structure of muscle group needed for walking with patient's lower limb/group be bonded and give conduction；
The initiator end 3 is configured as receiving the instruction from the sending of host side 2 and controls one or more groups of electricity according to instruction
Pole 4 issues or stops electro photoluminescence；
The host side 2 be configured to receive manually control instruction to initiator end 3 issue it is corresponding with instruction is manually controlled
Electro photoluminescence control sequential column and low-frequency current stimulus intensity；
It is characterized by:
The server end 1 treats correction big data RNN Recognition with Recurrent Neural Network module and GRU using the same type patient of rehabilitation
Control cycling element network module obtains exportable 4 output node time series of each electrode and exports the control algolithm of intensity of electric stimulus；
The host side 2 includes that signal receiving module, signal sending module and signal processing module, the signal receiving module are used
The signal that issues in receiving sensor end 5 and from the signal of server-side, the signal processing module is configured as to coming from
The raw information of description patient's lower limb walking posture of sensor side 5 is handled to obtain and be set meeting for description patient's lower limb walking
The standard posture information of set pattern then；
The standard posture information issues module by signal and is sent to server end 1, and the server end 1 believes standard posture
Breath obtains the exportable output of each electrode 4 by input control algorithm and controls comprising the suggestion of node time series and output intensity of electric stimulus
Treatment scheme；
The WEB terminal 6 is configured to the data at shared server end 1, and the WEB terminal 6 is configured as sending to host side 2
Control information including electro photoluminescence control sequential column and low-frequency current stimulus intensity, the control information pass through the letter of host side 2
Number receiving module is received, and control information control trigger end 3, which issues, to be corresponded to one or more groups of electrodes 4 and issue or stop
The only control instruction of electro photoluminescence.
2. walking aid device according to claim 1, which is characterized in that sensor side 5 includes that the pressure gone out positioned at vola passes
Sensor array, the array of pressure sensors are configured as the signal of pressure distribution and pressure variety at measurement patient's sole；
It further include the acceleration transducer for measuring ankle-joint acceleration information；It further include painting joint angle for measuring when patient takes a step
Spend the angular-rate sensor of amount of deflection；The physical quantity variation of patient's lower limb is converted electric signal by each sensor, i.e.,
For the initial parameter information.
3. walking aid device according to claim 1, which is characterized in that the host side 2 is additionally configured to record each sensing
Each parameter information of the device of device use information, each sensor use information and patient's lower limb posture information is passed through signal simultaneously
Sending module is sent to server end 1 and is stored in the memory module of host side 2.
4. walking aid device according to claim 2 or 3, which is characterized in that the WEB terminal 6 is configured as showing and manage
Data, the usage record information of patient's instrument of patient's lower limb posture information of server end 1.
5. the control method of the multichannel drop foot dynamic electro photoluminescence based on walking aid device described in claim 1-4:
Above-mentioned initial parameter information is sent the signal receiving end for being transmitted to host side 2 by the sensor side 5；
Signal processing module will obtain description patient's lower limb posture after the initial parameter information processing of each sensor of acquisition
The gait feature parameter of information, i.e. the standard posture information；
The gait feature parameter of each sensor inputs RNN Recognition with Recurrent Neural Network modular algorithm according to setting time series,
The output node time series of corresponding each group electrode 4 is obtained by Recognition with Recurrent Neural Network module；
The gait feature parameter of each sensor is built according to setting time series input GRU gating cycle unit networks module
The Dynamic Signal of vertical functionality intensity of electric stimulus；
The functional information that the stimulus intensity of output node time series and the low-frequency current of each group electrode 4 cooperatively forms is actively or by leading
The signal receiving module of generator terminal 2 receives, and the multichannel of the control module generating functionality electro photoluminescence through being located in initiator end 3
Dynamic controls；
The WEB terminal 6 determines that corrective therapy strategy, the corrective therapy strategy can be actively according to reference scheme and Couple herbs
Or host side 2 is passively sent to by the signal receiving module being located in host side 2；
The initiator end 3 is configured as receiving the instruction from the sending of host side 2 and controls one or more groups of electricity according to instruction
Pole 4 issues or stops electro photoluminescence；
The host side 2 be configured to receive manually control instruction to initiator end 3 issue it is corresponding with instruction is manually controlled
Electro photoluminescence control mode and intensity.
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| CN201910224180.4A CN109876295B (en) | 2019-03-22 | 2019-03-22 | walking aid |
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| CN201910224180.4A CN109876295B (en) | 2019-03-22 | 2019-03-22 | walking aid |
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| CN109876295B CN109876295B (en) | 2023-08-29 |
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| CN110353695A (en) * | 2019-07-19 | 2019-10-22 | 湖南工程学院 | A kind of wearable athletic rehabilitation guidance and monitor system and its method |
| CN113521534A (en) * | 2021-07-15 | 2021-10-22 | 清华大学 | Motion adjustment device and method, electronic apparatus, and storage medium |
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