CN110404168A - A kind of adaptive electro photoluminescence training system - Google Patents
A kind of adaptive electro photoluminescence training system Download PDFInfo
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- CN110404168A CN110404168A CN201910856978.0A CN201910856978A CN110404168A CN 110404168 A CN110404168 A CN 110404168A CN 201910856978 A CN201910856978 A CN 201910856978A CN 110404168 A CN110404168 A CN 110404168A
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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
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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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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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
Abstract
The invention discloses a kind of adaptive electro photoluminescence training systems, the training system includes data obtaining module, analog-to-digital conversion module, four part of electro photoluminescence control module and multichannel egersimeter, electro photoluminescence control module includes iterative learning controller and linear controller, fusion is obtained by data obtaining module, the kinematics signal and dynamic signal of modulus transmission module synchronous transfer, iterative learning controller establishes the iterative learning model of output intensity parameter, linear controller establishes the linear model of output phase parameter, pass through the variation of kinematics signal and dynamic signal in gait, the output phase and intensity of the adaptive adjusting multichannel egersimeter of electro photoluminescence control module, improve the gait walking ability of patient.
Description
Technical field
The present invention relates to medical rehabilitation technical field more particularly to a kind of adaptive electro photoluminescence training systems.
Background technique
For hemiplegic patient due to the missing of long-term lower limb function, there is atrophy, muscle in the muti-piece muscle that will lead to unilateral limbs
There is tetanic spasm state in strength decline, muscle, and it is flat that knee joint is unable to complete buckling stretching, foot drop gait and body
The pathological phenomenons such as the missing of weighing apparatus functional stabilization, so lower extremity motor function rehabilitation has become patients with cerebral apoplexy clinic health at present
The multiple focus of attention.
In the sixties in last century, functional electric stimulation therapeutic equipment begins to use the clinical rehabilitation to paralytic.With
The development of recent decades, electric stimulation therapeutic apparatus developed multichannel electro photoluminescence on the basis of original single channel control and controlled
Instrument is treated, control mode then develops on the basis of originally simply artificially manually controlling through plantar pressure switch control and sensing
The open loop control mode of device, and gradually develop to by simple opened loop control the closed-loop control of multiple control modes.
On the one hand multichannel electric stimulation therapeutic apparatus can be helped by carrying out electro photoluminescence training to paralytic's muti-piece muscle
Patient's muti-piece muscle cooperative motion gives load stage in the balance and walking process of patient body weight support transfer
Stability.On the other hand, due to being actively engaged in property of patient, its self-confidence can be greatly enhanced, affected limb is more conducive to
Functional rehabilitation.1971, Kralj et al. for the first time improved single channel egersimeter, designed four-way functional electric thorn
Swash device.On the other hand, compared to electro photoluminescence open-loop control system, close-loop control mode can not only more accurately control electric thorn
Swash each output parameter of device, and can adjust the gait parameter of patient in real time according to desired guiding trajectory, make the gait of patient more
Add and meets healthy Man's Demands.2000, Mourselas et al. specially devised the egersimeter for being directed to individual with drop foot
Closed-loop control system passes through embedded loop control theory, the ankle joint angle information in real-time measurement walking process, and leads to
It crosses and egersimeter intensity is adjusted in the feedback information that real-time measuring data is compared with normal data, realize
The electro photoluminescence of PID control is adjusted.2008, Nahrstaedt et al. was based on Iterative Learning Control Algorithm, in a gait cycle
It is interior that preset constant stimulus intensity is applied in system；Before next gait cycle starts, the mistake in previous period is analyzed
Difference；According to error signal, stimulation parameter is corrected, realizes the tracking in swing phase to default joint angles.It is above-mentioned to mention
And functional electrical stimulato the adjustment to parameters of electrical stimulation and the adjustment of joint angles are realized by different control modes,
But they are not combining electro photoluminescence phase with intensity adjustment, and due to the patient of different hemiplegia degree have it is different
The speed of travel and gait cycle of sample, so existing electro photoluminescence control mode does not have automatic adjusument function, in clinic
Do not have wide applicability in yet.
Summary of the invention
Adaptive electro photoluminescence training system proposed by the present invention can pierce multichannel electricity according to patient itself ambulatory status
The stimulation output for swashing device is automatically adjusted, and patient is helped to carry out gait rehabilitation training.
Its technical solution is as follows:
A kind of adaptive electro photoluminescence training system, comprising:
Data obtaining module, for obtaining the movement of patient's joint of lower extremity during patient carries out gait Walking
Learn signal and dynamic signal；
Analog-to-digital conversion module, kinematics signal and dynamic signal for obtaining the data obtaining module carry out mould
Number conversion, synchronizes the kinematics signal and the dynamic signal, in real time by the synchronous kinematics signal and described dynamic
Mechanical signal is transmitted to electro photoluminescence control module；
Electro photoluminescence control module, including iterative learning controller and linear controller；
The iterative learning controller, for obtaining the kinematics signal of the analog-to-digital conversion module transmission relative to target
The difference of kinematics signal merges the dynamic signal of the analog-to-digital conversion module transmission, establishes institute using iterative learning rule
The iterative learning model between difference and the output intensity parameter of iterative learning controller output is stated, when the movement shape of patient
When state changes, the difference of variation is obtained, it is described repeatedly according to the adjustment of the difference of variation according to the iterative learning model
For the output intensity parameter of learning controller output；
The linear controller, for merging the kinematics signal and dynamic signal of the analog-to-digital conversion module transmission,
Coherent when establishing the output of kinematics signal and dynamic signal and the linear controller that the analog-to-digital conversion module transmits
Linear model between number；When the motion state of patient changes, the kinematics signal of the analog-to-digital conversion module transmission is obtained
With the changing value of dynamic signal, when adjusting the output of the linear controller according to the changing value according to the linear model
Phase parameter；
The electro photoluminescence control module is also used to output intensity parameter and linear control according to the iterative learning controller
The output phase state modulator multichannel egersimeter of device processed；
The multichannel egersimeter, output intensity parameter and output for being sent according to the electro photoluminescence control module
Beginning, end time and the electrical stimulation signal for generating varying strength in each channel of phase state modulator.
Further, the analog-to-digital conversion module, specifically for the kinematics signal for obtaining the data obtaining module
Analog-to-digital conversion is carried out with dynamic signal, the movement obtained by the unified data obtaining module of down-sampled or oversampler method
The sample rate of signal and dynamic signal is learned, and according to the special occasion of setting, from this moment, after reunification by sample rate
Different motion signal and dynamic signal alignment in real time will to obtain synchronous kinematics signal and dynamic signal
Synchronous kinematics signal and dynamic signal are transmitted to the electro photoluminescence control module.
Further, synchronous kinematics signal and dynamic signal are transmitted to described by the analog-to-digital conversion module in real time
Electro photoluminescence control module, specially；
Synchronous kinematics signal and dynamic signal the electricity is transmitted in real time by the serial communication function of USB to pierce
Swash control module.
Further, the data obtaining module, the movement including the kinematics signal for acquiring patient's joint of lower extremity
The pressure signal acquisition unit of signal acquisition unit and the dynamic signal for acquiring patient's joint of lower extremity,
The motor message acquisition unit is specifically used for the angle signal of acquisition each joint of patient's lower limb during the motion
With moving displacement signal；Preferably, the motor message acquisition unit is motion capture system, is taken the photograph by the acquisition of high speed infrared data
Picture head is constituted,
The pressure signal acquisition unit generates anti-with the three-dimensional on ground in the process of walking specifically for acquisition patient
Active force, it is preferred that the pressure signal acquisition unit includes the pressure sensor device and three-dimensional for being placed in patient's heel rear
Pressure sensor.
Further, the iterative learning controller, is specifically used for, the kinematics transmitted according to the analog-to-digital conversion module
Angle signal in signal obtains kth angular error of the state moment j angle signal relative to target angle signal step by step, utilizes
Iterative learning rule establishes the kth state moment j output intensity step by step of the angular error and iterative learning controller output
Iterative learning model between parameter, state moment j is obtained kth by the dynamic signal that the analog-to-digital conversion module transmits step by step；
The motion state of patient changes, and the angular error is caused to change, and the iterative learning controller, which obtains, to be become
The angular error changed adjusts the iterative learning control according to the angular error of variation according to the iterative learning model
The output intensity parameter of device output processed.
Further, the linear controller, is specifically used for, the kinematics signal transmitted according to the analog-to-digital conversion module
The different speeds of travel is obtained, is obtained according to the dynamic signal of analog-to-digital conversion module transmission corresponding under the different speeds of travel
Gait cycle each moment in stage, using the delay duration established in priori is tested, duration is with leg speed linear change
Priori linear model, obtain kth step gait cycle in delay duration and duration.
Further, the electro photoluminescence control module is also used to join according to the output intensity of the iterative learning controller
Several and linear controller output phase state modulator multichannel egersimeter, specifically:
Kth is walked into delay duration and duration normalization in gait cycle, the normalized process are as follows: work as the time
When reaching the delay duration that the linear controller calculates, output digit signals 1 are calculated when the time reaches the linear controller
Duration when output digit signals 0, according to linear controller described in the Digital Signals after normalization export when coherent
Several low and high level output, the output intensity parameter that the iterative learning controller is exported and linear controller output
Output phase parameter is transmitted to the multichannel egersimeter.
Further, the multichannel egersimeter, is specifically used for, the output sent according to the electro photoluminescence control module
Intensive parameter, export adjustable corresponding waveform frequency, different pulse widths and amplitude electro photoluminescence electric pulse voltage or
Electric current is transmitted to muscle by electrode slice, so that muscle be stimulated to generate different degrees of contraction；Mould is controlled according to the electro photoluminescence
The switch of multichannel egersimeter described in the output phase driving parameter that block is sent is to control each channel output electro photoluminescence electric pulse
Beginning, the end time.
Further, the output intensity parameter that the multichannel egersimeter is sent according to the electro photoluminescence control module,
The electro photoluminescence electric pulse voltage or current of output phase difference pulse amplitude, specifically:
The multichannel egersimeter generates pulse width according to the output intensity parameter that the electro photoluminescence control module is sent
It is worth different electro photoluminescence electric pulse voltage or currents to be positive proportional linearity process: the maximum being first depending under patient's quiescent condition
It bears intensity of electric stimulus and one calibration output intensity parameter value is set, the calibration output intensity parameter value is corresponding to be exported as most
Big electro photoluminescence electric pulse amplitude is produced according to the proportionate relationship of reality output intensive parameter and the calibration output intensity parameter value
The different electro photoluminescence electric pulse of raw corresponding pulse amplitude, this conversion process are positive proportional linearity process.
In conclusion adaptive electro photoluminescence training system provided in an embodiment of the present invention can bring it is following the utility model has the advantages that
(1) compared to the electro photoluminescence phase of preset parameter before and the intensity of electric stimulus of preset parameter, the present invention is by grinding
Kinematics and dynamic signal while passing through kinematics and dynamic signal with the rule of velocity variations when studying carefully motion state difference
Variation in gait, the output phase and intensity of adaptive adjusting multichannel egersimeter, is conducive to enable patient in this way
It is enough more naturally to restore gait physiological function.
(2) compared to single channel egersimeter, the present invention is defeated by the multichannel electro photoluminescence that electro photoluminescence drive module is realized
Out, the physiological function of more favorable each muscle group is restored, and can be effectively improved the pathological condition in patient's gait each stage, especially suitable
In the walk help functional rehabilitation of paralytic, such as: can patient heelstrike when provide cushioning effect and when liftoff tiptoe
It carves and helps the knee joint effect of lifting；Can increase gait shaking peroid lower limb to ground distance, to increase the steady of patient's gait
It is qualitative；The stretching, extension buckling movement of the symmetry and each joint of lower limb that can be improved each kinematics parameters index is completed, thus more
Comprehensive help patient's gait function is added to restore.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of adaptive electro photoluminescence training system provided in an embodiment of the present invention；
Fig. 2 is the adaptive electro photoluminescence flow diagram of adaptive electro photoluminescence training system；
Fig. 3 is the schematic diagram of iterative learning controller and linear controller；
Fig. 4 is the relationship signal of electro photoluminescence control module output parameter and multichannel egersimeter output electro photoluminescence electric pulse
Figure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of adaptive electro photoluminescence training system, as described in Figure 1, including data obtaining module
101, analog-to-digital conversion module 102, electro photoluminescence control module 103 and multichannel egersimeter 104, electro photoluminescence control module 103 are wrapped
Include iterative learning controller 1031 and linear controller 1032；
Referring to Fig. 2, the adaptive electro photoluminescence process of adaptive electro photoluminescence training system shown in Fig. 1 is as follows:
201, data obtaining module 101 obtains the fortune of patient's joint of lower extremity during patient carries out gait Walking
It is dynamic to learn signal and dynamic signal；
Data obtaining module 101 includes motor message acquisition unit 1011 and pressure signal acquisition unit 1012.
(1) it is specific as follows to acquire the step of kinematics signal of patient's joint of lower extremity for motor message acquisition unit 1011:
Motor message acquisition unit 1011 is specially motion capture system, is made of high speed infrared data acquisition camera.
Motor message acquisition unit 1011 can also be the equipment such as inertial sensor.
In the present embodiment, the kinematics signal for patient's joint of lower extremity that motor message acquisition unit 1011 acquires is under patient
The angle signal and moving displacement signal of each joint of limb during the motion, angle signal include ankle-joint, knee joint angle and
Data, the moving displacement signals such as corresponding angular speed, angular acceleration include the data such as step-length and gait symmetry.
(2) it is specific as follows to acquire the step of dynamic signal of patient's joint of lower extremity for pressure signal acquisition unit 1012:
Pressure signal acquisition unit 1012 specifically includes the pressure sensor device for being placed in patient's heel rear and three-dimensional pressure
Force snesor, wherein being placed in the pressure sensor device at heel rear can switch for plantar pressure, three-dimensional pressure sensor can
The three-dimensional pressure sensor thinking three-dimensional force platform or being placed under treadmill.
In the present embodiment, the dynamic signal for patient's joint of lower extremity that pressure signal acquisition unit 1012 acquires is that patient exists
It is being generated in walking process with ground three-dimensional reaction force.It can be by being placed in for the judgement of particular moment in gait cycle
The pressure change of the pressure sensor device at heel rear judges, such as when heel is changed by liftoff state lands state, pressure
Force sensor can be gradually increased by pressure value 0；Three-dimensional pressure sensor can be by gait in people's walking process in three-dimensional
Power there are the characteristics that variation, obtain in real time patient in the process of walking with the three-dimensional reaction force of ground effects.
202, analog-to-digital conversion module 102 by kinematics signal acquired in data obtaining module 101 and dynamic signal into
Row analog-to-digital conversion synchronizes the kinematics signal and dynamic signal, in real time passes synchronous kinematics signal and dynamic signal
Transport to electro photoluminescence control module 103；
Due to taking different signal acquisition behaviors to have different sample rates, analog-to-digital conversion module 102 is by down-sampled
Or the sample rate of oversampler method unified information acquisition module 101 the kinematics signal obtained and dynamic signal, and according to
Certain special occasion, such as analyzed on the basis of a complete gait cycle, set the starting of a complete gait cycle
Moment is heelstrike moment, from this moment, by sample rate different motion signal after reunification and dynamic signal pair
Together, to obtain synchronous kinematics signal and dynamic signal, then in real time by synchronous kinematics signal and dynamic signal
It is transmitted to electro photoluminescence control module 103.In this embodiment, the sample rate of high speed infrared data acquisition camera is
100Hz, the sample rate of plantar pressure switch is 100Hz, and the sample rate of three-dimensional pressure sensor is 1000Hz, therefore can be led to
Cross the down-sampled sample rate unification to make kinematics signal and dynamic signal.
Specifically, kinematics signal and dynamic signal are transferred to electro photoluminescence by the serial communication function of USB and control mould
In block 103, to accomplish that the kinematics signal that will be synchronized and dynamic signal carry out real-time Transmission.
Electro photoluminescence control module 103 includes iterative learning controller 1031 and linear controller 1032.
203, the kinematics signal that iterative learning controller 1031 obtains that analog-to-digital conversion module 102 transmits is transported relative to target
The dynamic difference for learning signal, the dynamic signal that fusion analog-to-digital conversion module 102 transmits, establishes the difference using iterative learning rule
The output intensity parameter U that value is exported with iterative learning controller 1031out1Between iterative learning model, when the movement shape of patient
When state changes, the difference of variation is obtained, iterative learning control is adjusted according to the difference of variation according to iterative learning model
The output intensity parameter U that device 1031 processed exportsout1。
Referring to Fig. 3, the process for establishing iterative learning model is as follows:
The iterative learning rule is as shown in formula 1:
Uk(n)=Uk-1(n)+(fp+fi∑δn+fdΔ)ek(n) (formula 1)
Wherein input value ekIt (n) is n-dimensional vector e=[e (1), e (2) ..., e (n)]T∈RnIn k-th of vector,
It is referred into changing value of the kinematics signal of the transmission of analog-to-digital conversion module 102 relative to target kinematics signal, output valve
Uk-1(n) and UkIt (n) is respectively a n-dimensional vector U=[U (1), U (2) ..., U (n)]T∈RnIn kth -1 and k-th to
Amount is referred into the output intensity parameter U of the output of iterative learning controller 1031out1, fp、fiAnd fdRespectively ratio, integral
Learn factor matrix with difference.
As previously mentioned, kinematics signal is specifically the angle of each joint of patient's lower limb during the motion in the present embodiment
Signal and moving displacement signal, and what angle signal took in the present embodiment is patient in the maximum ankle dorsiflexion for suffering from sufficient shaking peroid
Degree, shaking peroid, refer to the stage of entire less touch with the ground.
(1) iterative learning controller 1031 has obtained target angle signal in advance, and target angle signal is normal person's experiment
Obtain angle-data normalization after as a result, analog-to-digital conversion module 102 to 1031 input motion of iterative learning controller letter
Number, the angle signal in kinematics signal transmitted according to analog-to-digital conversion module 102, iterative learning controller 1031 obtains angle
Angular error of the signal relative to target angle signal, the angular error are as shown in formula 2:
ek(j)=θk(j)-θs(j) (formula 2)
Wherein θk(j) angle signal of the kth state moment j step by step transmitted for analog-to-digital conversion module 102, θsIt (j) is target angle
Signal is spent, target angle signal is 5 ° in the present embodiment, ekIt (j) is the angle signal and target angle of kth state moment j step by step
Spend the angular error between signal；State moment j is obtained kth by the dynamic signal that analog-to-digital conversion module 102 transmits step by step, such as
The moment in stage of gait cycle, such as heeloff moment, tool are calculated by the dynamic signal that analog-to-digital conversion module 102 transmits
Body is as described in step 101, and pressure signal acquisition unit 1012 is for acquiring three with ground that patient generates in the process of walking
Tie up reaction force.It can be by being placed in the pressure of the pressure sensor device at heel rear for the judgement of particular moment in gait cycle
Power changes to judge.
(2) by angular error ek(j) multiplied by learning parameter L (j), input parameter E is obtainedk(j), learning parameter L (j) can be with
Reality output intensive parameter U when the angular error and experiment tested according to normal personout1Between ratio be calculated,
It is as shown in formula 3:
Ek(j)=L (j) ek(j) (formula 3)
Wherein L (j) is set as 40 in this embodiment.
(3) parameter E will be inputtedk(j) with the U of the reality output of state moment j step by step of kth -1out1It is linearly calculated, and is passed through
Function T constraint is crossed, makes output parameter H (j) forever within the scope of normal electro photoluminescence, obtains iterative learning model such as 4 institute of formula
Show:
Uout1=Hk(j)=T (Hk-1(j)+Ek(j)) (formula 4)
Wherein Hk(j) kth state moment j output intensity parameter U step by step is indicatedout1；Hk-1(j) the state moment j step by step of kth -1 is indicated
Output intensity parameter Uout1；T is to make the constraint function of output parameter H (j) forever in the normal range, and constraint function effect is former
Reason is as shown in formula 5:
WhereinFor the maximum intensity of electric stimulus that patient can bear, constraint function T guarantees that output parameter H (j) can never
More than the maximum intensity of electric stimulus that patient can bear, to guarantee to be perfectly safe；WhereinuIntensity of electric stimulus is exported for minimum, because
It cannot be negative for output intensity of electric stimulus, so working as output intensity parameter Uout1Calculate when being negative, constraint function T make its 0,
To avoid the generation of output error.
The motion state of patient changes, and patient believes in each joint angles signal of different phase and target angle of gait cycle
Number angular error be different, so causing angular error ek(j) it changes, iterative learning controller 1031 obtains variation
Angular error ek(j), according to iterative learning model according to the angular error e of variationk(j) iterative learning controller 1031 is adjusted
The output intensity parameter U of outputout1。
When angle signal is less than target angle signal, the angular error e of variation is obtainedk(j), iterative learning model is utilized
Obtain output intensity parameter Uout1, and obtain output intensity parameter Uout1It can be than the output intensity parameter U of last time outputout1Greatly,
Guarantee that actual motion situation is more nearly normal conditions to increase intensity of electric stimulus；And when angle signal is greater than target angle
When signal, the angular error e of variation is obtainedk(j), output intensity parameter U is obtained using iterative learning modelout1, and exported
Intensive parameter Uout1It can be than the output intensity parameter U of last time outputout1It is small, so that reducing intensity of electric stimulus guarantees actual motion
Learn the normal output of situation.
204, while executing step 203, linear controller 1032 merges the kinematics that analog-to-digital conversion module 102 inputs
Signal and dynamic signal establish kinematics signal and dynamic signal and linear controller that analog-to-digital conversion module 102 inputs
Linear model between 1032 output phase parameter；When the motion state of patient changes, it is defeated to obtain analog-to-digital conversion module 102
The changing value of the kinematics signal entered and dynamic signal adjusts linear controller 1032 according to changing value according to linear model
Export phase parameter.
(1) process for establishing linear model is as follows:
In the priori experiment carried out to normal person, the surface electrode by being affixed on corresponding muscle group acquires each flesh of patient's lower limb
Electromyography signal of the group under different walking speeds in multiple gait cycles.In the present embodiment, the quadriceps muscle of thigh, popliteal of lower limb is acquired
The electromyography signal of four pieces of rope flesh, gastrocnemius and tibialis anterior muscle.
In priori experiment, electromyography signal transformation period point is recorded by the electromyography signal of acquisition, is opened according to plantar pressure
Closing the heelstrike moment in obtained dynamic signal is reference point, is calculated from the time heelstrike started to shrink to muscle
Difference and the time difference for starting to shrink stopping contraction, and the two time differences unite in a complete gait cycle
One.Similarly, also it is poor that this time can be calculated using the heeloff moment as reference point.According to each muscle group it is practical shrink the moment difference,
By the combination that electromyographic signal collection and plantar pressure switch screen this reference point be in heelstrike moment or heel from
The ground moment.Wherein, since reference point, the time of contraction of muscle is denoted as delay duration y to1, from start contraction of muscle time point to
Beginning loosening all muscles time point is denoted as duration y2, delay duration y1With duration y2Be it is in a linear relationship with leg speed, because
This is by the method for least square fitting, by y in a complete gait cycle1、y2With the variation relation of leg speed linear change
It is fitted to specific equation, sees formula 6.
Formula 6 is priori linear model.
Different walking speed is obtained in the kinematics signal that linear controller 1032 is transmitted according to analog-to-digital conversion module 102
Degree obtains the corresponding each rank of gait cycle under the different speeds of travel according to the dynamic signal that analog-to-digital conversion module 102 transmits
The section moment, according to gait cycle each moment in stage corresponding under the acquired different speeds of travel and the different speeds of travel,
Obtain the delay duration y in gait cycle1With duration y2, to accomplish the combination of dynamic signal and kinematics signal
It is converted into delay duration y1With duration y2The two time variable parameters.
Due to the individual sex differernce of patient, everyone leg speed is different, so delay duration y1With duration y2It can
According to the adaptive adjustment of the difference of leg speed.
During actually adjustment, the y in kth step gait cycle is calculated by way of calculating leg speed1With y2.Method
It is as follows: as previously mentioned, obtaining longitudinal travel distance d (k-1) in gait cycle, d (k- by motor message acquisition unit 1011
It 1) include that kth -1 is obtained by formula 7 in the moving displacement signal in the kinematics signal that analog-to-digital conversion module 102 transmits
Speed v (k-1) step by step, then by the way that speed is average step by step by preceding N, obtains kth speed uv (k) step by step, see formula 8, wherein N is the flat of setting
Equal step number.
According to kth speed uv (k) step by step, it is based on the priori linear model (formula 6), is calculated in kth step gait cycle
Delay duration y1With duration y2.As shown in Figure 3.
205, electro photoluminescence control module 103 according further to iterative learning controller 1031 output intensity parameter Uout1With it is linear
The output phase state modulator multichannel egersimeter 104 of controller 1032, including the delay walked kth in gait cycle
Duration y1With duration y2Normalization, method are to reach the delay duration y of the calculating of linear controller 1032 when the time1When, pass through
103 output digit signals 1 of electro photoluminescence control module, reach duration y2When output digit signals 0, according to the number after normalization
Word signal control line controller 1032 exports phase parameter Uout2Low and high level output.
Electro photoluminescence control module 103 is by output intensity parameter Uout1With output phase parameter Uout2It is sent to multichannel electricity thorn
Swash device 104.
206, the output intensity parameter U that multichannel egersimeter 104 is sent according to electro photoluminescence control module 103out1With it is defeated
Phase parameter U outout2Beginning, end time and the electrical stimulation signal for generating varying strength in each channel are controlled, auxiliary patient is complete
At rehabilitation exercise.
It is specific as follows referring to Fig. 4:
(1) the output phase parameter U that multichannel egersimeter 104 is sent according to electro photoluminescence control module 103out2Control is each
Channel exports the beginning of electro photoluminescence electric pulse, end time.
Multichannel egersimeter 104 will export phase parameter Uout2As one of input signal, work as Uout2It is low level output
When, multichannel egersimeter 104 is exported without electro photoluminescence electric pulse at this time；Work as Uout2When being high level output, multichannel is electric at this time
Stimulator 104 has the output of electro photoluminescence electric pulse, exports the parameter of electro photoluminescence electric pulse specifically by output intensity parameter Uout1It determines.
As previously mentioned, phase parameter U when outputout2When from scratch, i.e. delay duration y1Finish time, multichannel electricity thorn
Swash device 104 and start electro photoluminescence, when output phase parameter Uout2From have to it is no when, i.e., at that time length reach duration y2Afterwards, multichannel
Egersimeter 104 terminates electro photoluminescence.
(2) the output intensity parameter U that multichannel egersimeter 104 is sent according to electro photoluminescence control module 103out1Control electricity
The intensity for stimulating electric pulse to export.
Multichannel egersimeter 104 is by output intensity parameter Uout1As one of input signal, according to output intensity parameter
Uout1Generate the different electro photoluminescence electric pulse voltage or current of intensity, output intensity parameter Uout1It can determine output electro photoluminescence electricity
The pulse amplitude or pulse width of pulse, or pulse amplitude and pulse width are adjusted simultaneously, the waveform and frequency of electro photoluminescence electric pulse
Rate can be set in advance.In the present embodiment, each channel output electric current is 0 to 120mA adjustable, and wave width is that 100 to 420 μ S can
It adjusts, frequency is 1 to 120Hz adjustable, and each channel of multichannel egersimeter 104 individually exports, and is independent of each other.Wherein
Waveform, frequency and the pulse width of electro photoluminescence electric pulse are set in advance, according to output intensity parameter Uout1Generate pulse width
It is worth different electro photoluminescence electric pulses.
Specifically, according to output intensity parameter Uout1The different electro photoluminescence electric pulse of pulse amplitude is generated to be positive proportional linearity
Process: a calibration output intensity parameter value is arranged in the maximum intensity of electric stimulus of bearing being first depending under patient's quiescent condition, this
The corresponding output of output intensity parameter value is demarcated for maximum electro photoluminescence electric pulse amplitude, according to reality output intensive parameter Uout1With
The proportionate relationship for demarcating output intensity parameter value, generates the different electro photoluminescence electric pulse of corresponding pulse amplitude, this is transformed
Cheng Weizheng proportional linearity process.
The electro photoluminescence electric pulse voltage or current of generation is transmitted to muscle by electrode slice, so that muscle be stimulated to generate not
With the contraction of degree.
The embodiment of the present invention can be according to adaptive electro photoluminescence training system, when being moved on a treadmill by analyzing patient
Each signal with the feature of velocity variations, can have an effect the adaptive adjustment electro photoluminescence of situation according to the practical contraction of patient muscle
Time, intensity, have good bionic function, the quality of patient's lower extremity movement can be improved, help their daily gait function
The recovery of energy.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of adaptive electro photoluminescence training system characterized by comprising
Data obtaining module, for during patient carries out gait Walking, obtaining the kinematics letter of patient's joint of lower extremity
Number and dynamic signal；
Analog-to-digital conversion module, kinematics signal and dynamic signal for obtaining the data obtaining module carry out modulus and turn
It changes, synchronizes the kinematics signal and the dynamic signal, in real time by the synchronous kinematics signal and the dynamics
Signal is transmitted to electro photoluminescence control module；
Electro photoluminescence control module, including iterative learning controller and linear controller；
The iterative learning controller, the kinematics signal for obtaining the analog-to-digital conversion module transmission are moved relative to target
The difference for learning signal merges the dynamic signal of the analog-to-digital conversion module transmission, establishes the difference using iterative learning rule
Iterative learning model between value and the output intensity parameter of iterative learning controller output, when the motion state of patient changes
When change, the difference of variation is obtained, the iteration is adjusted according to the difference of variation according to the iterative learning model
Practise the output intensity parameter of controller output；
The linear controller is established for merging the kinematics signal and dynamic signal of the analog-to-digital conversion module transmission
The kinematics signal and dynamic signal and the output phase parameter of the linear controller of analog-to-digital conversion module transmission it
Between linear model；When the motion state of patient changes, obtains the kinematics signal of the analog-to-digital conversion module transmission and move
The changing value of mechanical signal, coherent when adjusting the output of the linear controller according to the changing value according to the linear model
Number；
The electro photoluminescence control module is also used to output intensity parameter and the linear control according to the iterative learning controller
The output phase state modulator multichannel egersimeter of device processed；
The multichannel egersimeter, output intensity parameter and output phase for being sent according to the electro photoluminescence control module
Beginning, end time and the electrical stimulation signal for generating varying strength in each channel of state modulator.
2. adaptive electro photoluminescence training system according to claim 1, which is characterized in that
The analog-to-digital conversion module, specifically for the kinematics signal that obtains the data obtaining module and dynamic signal into
Row analog-to-digital conversion, the kinematics signal obtained by the unified data obtaining module of down-sampled or oversampler method and dynamics
The sample rate of signal, and according to the special occasion of setting, from this moment, the different motion of sample rate after reunification is believed
Number and dynamic signal alignment synchronous kinematics is believed in real time to obtain synchronous kinematics signal and dynamic signal
Number and dynamic signal be transmitted to the electro photoluminescence control module.
3. adaptive electro photoluminescence training system according to claim 1 or 2, which is characterized in that
Synchronous kinematics signal and dynamic signal are transmitted to the electro photoluminescence in real time and control mould by the analog-to-digital conversion module
Block, specifically:
Synchronous kinematics signal and dynamic signal are transmitted to the electro photoluminescence control in real time by the serial communication function of USB
Molding block.
4. adaptive electro photoluminescence training system according to claim 3, which is characterized in that
The data obtaining module, motor message acquisition unit including the kinematics signal for acquiring patient's joint of lower extremity and
For acquiring the pressure signal acquisition unit of the dynamic signal of patient's joint of lower extremity；
The motor message acquisition unit is specifically used for the angle signal acquired in each joint of patient's lower limb during the motion and fortune
Dynamic displacement signal；
The pressure signal acquisition unit is specifically used for the three-dimensional reaction with ground that acquisition patient generates in the process of walking
Power.
5. adaptive electro photoluminescence training system according to claim 4, which is characterized in that
The iterative learning controller, is specifically used for, according to the angle in the kinematics signal of analog-to-digital conversion module transmission
Signal obtains kth angular error of the state moment j angle signal relative to target angle signal step by step, utilizes iterative learning rule
Establish the kth of the angular error and iterative learning controller output step by step between state moment j output intensity parameter repeatedly
For learning model, state moment j is obtained kth by the dynamic signal that the analog-to-digital conversion module transmits step by step；
The motion state of patient changes, and the angular error is caused to change, and the iterative learning controller obtains variation
The angular error adjusts the iterative learning controller according to the angular error of variation according to the iterative learning model
The output intensity parameter of output.
6. adaptive electro photoluminescence training system according to claim 5, which is characterized in that
The linear controller, is specifically used for, according to the different row of the kinematics signal acquisition of analog-to-digital conversion module transmission
Speed is walked, it is each to obtain corresponding gait cycle under the different speeds of travel according to the dynamic signal of analog-to-digital conversion module transmission
A moment in stage, using established in priori is tested delay duration, duration with leg speed linear change the linear mould of priori
Type obtains delay duration and duration in kth step gait cycle.
7. adaptive electro photoluminescence training system according to claim 6, which is characterized in that
The electro photoluminescence control module is also used to output intensity parameter and linear controller according to the iterative learning controller
Output phase state modulator multichannel egersimeter, specifically:
Kth is walked into delay duration and duration normalization in gait cycle, the normalized process are as follows: reach when the time
When the delay duration that the linear controller calculates, output digit signals 1 reach holding for the linear controller calculating when the time
Output digit signals 0 when continuous duration, according to the output phase parameter of linear controller described in the Digital Signals after normalization
Low and high level output, the output of the output intensity parameter that the iterative learning controller is exported and linear controller output
Phase parameter is transmitted to the multichannel egersimeter.
8. adaptive electro photoluminescence training system according to claim 7, which is characterized in that
The multichannel egersimeter, is specifically used for, according to the output intensity parameter that the electro photoluminescence control module is sent, output
The electro photoluminescence electric pulse voltage or current of corresponding waveform frequency adjustable, different pulse width and amplitude, by electrode
Piece is transmitted to muscle, so that muscle be stimulated to generate different degrees of contraction；The output sent according to the electro photoluminescence control module
The switch of multichannel egersimeter described in phase driving parameter with control each channel output electro photoluminescence electric pulse beginning, at the end of
Between.
9. adaptive electro photoluminescence training system according to claim 8, which is characterized in that
The output intensity parameter that the multichannel egersimeter is sent according to the electro photoluminescence control module, output phase difference pulse
The electro photoluminescence electric pulse voltage or current of amplitude, specifically:
The multichannel egersimeter generates pulse amplitude not according to the output intensity parameter that the electro photoluminescence control module is sent
With electro photoluminescence electric pulse voltage or current be positive proportional linearity process: be first depending under patient's quiescent condition maximum bears
A calibration output intensity parameter value is arranged in intensity of electric stimulus, and the calibration output intensity parameter value is corresponding to be exported as maximum electricity
Electric pulse amplitude is stimulated, according to the proportionate relationship of reality output intensive parameter and the calibration output intensity parameter value, generates phase
The different electro photoluminescence electric pulse of corresponding pulse amplitude, this conversion process are positive proportional linearity process.
10. adaptive electro photoluminescence training system according to claim 9, which is characterized in that
The motor message acquisition unit is motion capture system, is made of high speed infrared data acquisition camera, the pressure
Signal acquisition unit includes the pressure sensor device and three-dimensional pressure sensor for being placed in patient's heel rear.
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