CN111202908A - Palm electrical stimulation control system based on elbow motion driving - Google Patents
Palm electrical stimulation control system based on elbow motion driving Download PDFInfo
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- 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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- 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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Abstract
The invention discloses a palm electrical stimulation control system based on elbow motion driving, which is characterized in that an inertia measurement module is used for collecting an attitude quaternion of an elbow, a bending sensor module is used for collecting a finger bending angle, a data processing module is used for collecting the attitude quaternion and the finger bending angle and sending the collected data to an upper computer, the upper computer periodically uses the received attitude quaternion and the received finger bending angle to set electrical stimulation control parameters according to a preset control period and sends a control instruction to an electrical stimulation device, and the electrical stimulation device outputs corresponding pulses to stimulate muscle contraction corresponding to the fingers according to the control instruction sent by the upper computer. The invention can automatically adjust the pulse control parameters of the electrical stimulation equipment and realize the automatic continuous stimulation of the muscles corresponding to the fingers.
Description
Technical Field
The invention belongs to the technical field of palm electrical stimulation control, and particularly relates to a palm electrical stimulation control system based on elbow motion driving.
Background
Functional Electrical Stimulation (FES) is a method of stimulating muscle movement or simulating normal voluntary movement by using a low-frequency pulse current signal with a certain intensity, so as to improve or recover the function of the stimulated muscle. Since the 60 s american doctor Liberson first successfully corrected the gait of drop foot in hemiplegic patients by electrical stimulation of the peroneal nerve, FES had gained successful application in the recovery of motor and sensory functions. Scientific research proves that functional electrical stimulation can promote local blood circulation, increase capillary density, promote the up-regulation of vascular endothelial growth factor of smooth muscle cells and promote the regeneration of blood vessels.
At present, the domestic application of FES is mainly used for physical therapy rehabilitation, namely rehabilitation medicine, such as cerebral stroke rehabilitation, paraplegia rehabilitation, spasm rehabilitation, muscular atrophy rehabilitation and the like, and the rehabilitation treatment of hands also comprises the application of FES. It is statistically estimated that about 55% of stroke patients have no normal motor function in their upper limbs after stroke, and another 30% have local access to their upper limbs, where the range of motion and intensity is limited. Because of these limitations of motion and strength, they are unable to perform simple activities in daily life, such as hand grasping.
In the past, the electrical stimulation rehabilitation and training of the hand are controlled through external instructions, when the arm of a user stretches, electrode signals stimulating palm muscles cannot be automatically generated, and therefore the efficiency of the palm rehabilitation training is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a palm electrical stimulation control system based on elbow motion driving, which automatically adjusts pulse control parameters of electrical stimulation equipment and realizes automatic continuous stimulation on muscles corresponding to fingers.
In order to achieve the above purpose, the palm electrical stimulation control system based on elbow motion driving of the invention comprises an inertia measurement module, a bending sensor module, a data processing module, an upper computer and electrical stimulation equipment, wherein:
the inertia measurement module comprises 2 inertia measurement units which are respectively arranged on the upper arm and the lower arm of a user and send the acquired attitude quaternion to the data processing module;
the bending sensor module comprises N bending sensors, N fingers to be stimulated are arranged in the 5 fingers of the user in advance according to actual needs, and the N bending sensors are respectively arranged on the back surfaces of the corresponding fingers to be stimulated and used for acquiring bending angles of the fingers and then sending the bending angles to the data processing module;
the data processing module is used for summing the received attitude quaternion and the finger bending angle for preprocessing and then sending the sum to the upper computer;
the upper computer is used for periodically setting electrical stimulation control parameters by utilizing the received attitude quaternion and the finger bending angle according to a preset control period, generating a control command and sending the control command to the electrical stimulation equipment, and the specific method for generating the control command is as follows:
s1: calculating to obtain the included angle theta of the elbow joint according to the posture quaternion of the large arm and the small armeaAnd angular velocity thetaev；
S2: judging the included angle theta of the elboweaWhether the elbow angle is within the preset elbow included angle range or not is judged, if yes, the step S3 is carried out, otherwise, no operation is carried out, the control is finished, and the next control period is waited;
s3: judging whether the elbow included angle theta exists in a preset control parameter databaseeaCorresponding electrical stimulation control parameters, if the corresponding electrical stimulation control parameters exist, the step S4 is carried out, otherwise, the step S5 is carried out;
s4: according to the elbow included angle theta already existing in the control parameter databaseeaGenerating M control instructions according to the corresponding electrical stimulation control parameters, wherein the electrical stimulation control parameters comprise width and amplitude parameters of M pulse information generated by the electrical stimulation equipment, and generating the M control instructionsSending to an electrical stimulation device;
s5: generating M control instructions according to preset default electrical stimulation control parameters and sending the M control instructions to electrical stimulation equipment;
s6: judging whether the bending angles of all the fingers to be stimulated reach a preset bending angle threshold value, if so, entering a step S7, otherwise, entering a step S8;
s7: when the electrical stimulation is completed, the upper computer sends a stopping instruction to the electrical stimulation equipment, and the current included angle theta of the elbow is obtainedeaStoring the electrical stimulation control parameters into a control parameter database;
s8: the specific method for adjusting the electrical stimulation control parameters comprises the following steps: screening out the fingers to be stimulated with the bending angles not reaching the preset bending angle threshold value, and recording the serial number of the corresponding pulse signal as m*，1≤m*M or less, and the pulse width in the current electrical stimulation control parameter is Pw(m*) Pulse amplitude of Pi(m*) According to the angle theta of the elbow jointeaAngular velocity thetaevAnd the bending angle theta of each finger to be stimulatedf(n) calculating the adjusted pulse width P'w(m*) Pulse amplitude P'i(m*) The calculation formula is as follows:
wherein E is1Parameters representing the control of pulse width by elbow joint angle, E2Parameter representing the control of pulse width by angular velocity of the elbow joint, Fw(n) represents the bending angle theta of each finger to be stimulatedf(N) parameters controlling pulse width, N being 1,2, …, N, E3Parameters representing the amplitude of the control pulse using the angle of the elbow joint, E4Parameter representing the amplitude of the control pulse using the angular velocity of the elbow joint, Fi(n) represents the bending angle theta of each finger to be stimulatedf(n) a parameter controlling the amplitude of the pulse;
the electrical stimulation equipment comprises a pulse generation device and M pairs of electrode plates, wherein N fingers to be stimulated are divided into M groups in advance according to actual conditions, and the N pairs of electrode plates are arranged on muscles corresponding to the M groups of fingers to be stimulated on the arm of a user; the pulse generating device generates corresponding pulses according to the M control instructions sent by the upper computer and outputs the corresponding pulses to the corresponding electrode plates so as to stimulate the corresponding muscles of the fingers to contract; and stopping pulse generation after receiving a stop instruction sent by the upper computer.
The palm electrical stimulation control system based on elbow motion driving utilizes an inertia measurement module to collect gesture quaternion of an elbow, utilizes a bending sensor module to collect bending angles of fingers, utilizes a data processing module to collect the gesture quaternion and the bending angles of the fingers and send the collected data to an upper computer, the upper computer periodically utilizes the received gesture quaternion and the received bending angles of the fingers according to a preset control period to set electrical stimulation control parameters and sends control instructions to electrical stimulation equipment, and the electrical stimulation equipment outputs corresponding pulses to stimulate muscle contraction corresponding to the fingers according to the control instructions sent by the upper computer.
The invention can automatically adjust the pulse control parameters of the electrical stimulation equipment and realize the automatic continuous stimulation of the muscles corresponding to the fingers. The invention can help the patients with incomplete hand functions to carry out hand rehabilitation, automatically guide the patients to finish the hand rehabilitation according to the elbow angle change, improve the hand rehabilitation efficiency, and lead the whole control process to be coherent and more approximate to the hand movement of healthy people. The invention can also record the electrical stimulation control parameters so as to supervise the recovery condition of the patient for a long time.
Drawings
FIG. 1 is a block diagram of an embodiment of the palm electrical stimulation control system based on elbow motion driving according to the present invention;
FIG. 2 is a schematic view of the arm mounting of the data measuring device of the present invention;
FIG. 3 is a flow chart of control instruction generation in the present invention;
fig. 4 is an example of mounting of the electrode sheet.
Detailed Description
The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.
Examples
Fig. 1 is a block diagram of an embodiment of the palm electrical stimulation control system based on elbow motion driving according to the invention. As shown in fig. 1, the palm electrical stimulation control system based on elbow motion driving of the present invention includes an inertial measurement module 1, a bending sensor module 2, a data processing module 3, an upper computer 4, and an electrical stimulation device 5, where the inertial measurement module 1, the bending sensor module 2, and the data processing module 3 are used to form a data acquisition device, and each component module is described in detail below.
FIG. 2 is a schematic view of the arm assembly of the data measuring device of the present invention. As shown in fig. 2, the inertia measurement module 1 includes 2 inertia measurement units, which are respectively installed on the upper arm and the lower arm of the user, and sends the acquired attitude quaternion to the data processing module 3.
The bending sensor module 2 comprises N bending sensors, N fingers to be stimulated are arranged in the 5 fingers of the user according to actual needs in advance, the N bending sensors are respectively installed on the back faces of the corresponding fingers to be stimulated, the N bending sensors are used for collecting bending angles of the fingers, and then the bending sensors are sent to the data processing module 3. The finger to be stimulated may be set according to a preset action. As shown in fig. 2, the bending sensors are mounted on all 5 fingers of the left hand in this embodiment.
The data processing module 3 is used for summarizing and preprocessing the received gesture quaternion and the finger bending angle and then sending the preprocessed gesture quaternion and the finger bending angle to the upper computer 4. The preprocessing generally includes a denoising process and the like. As shown in fig. 2, in this embodiment, the data processing module is worn on the upper portion of the left arm of the user, so that the bending sensor and the inertial measurement unit report data. The data processing module, the bending sensor, the inertia measuring unit and the upper computer can be communicated through wired communication and wireless communication.
The upper computer 4 is used for periodically setting electrical stimulation control parameters by using the received posture quaternion and the finger bending angle according to a preset control period, generating a control command and sending the control command to the electrical stimulation equipment 5. Fig. 3 is a flow chart of control instruction generation in the present invention. As shown in fig. 3, the specific steps of generating the control instruction of the upper computer in this embodiment include:
s301: calculating the elbow angle and the angular velocity:
calculating to obtain the included angle theta of the elbow joint according to the posture quaternion of the large arm and the small armeaAnd angular velocity thetaev。
S302: judging the included angle theta of the elboweaAnd if so, entering the step S303, otherwise, not performing any operation, ending the control, and waiting for the next control period. The elbow angle range is set according to a preset palm motion.
S303: judging whether the elbow included angle theta exists in a preset control parameter databaseeaAnd if the corresponding electrical stimulation control parameters exist, the step S304 is carried out, otherwise, the step S305 is carried out.
S304: using the existing control parameters:
according to the elbow included angle theta already existing in the control parameter databaseeaAnd generating M control instructions according to the corresponding electrical stimulation control parameters, wherein the electrical stimulation control parameters comprise width and amplitude parameters of M pulse information generated by the electrical stimulation equipment, and sending the generated M control instructions to the electrical stimulation equipment.
S305: using default control parameters:
and generating M control instructions according to preset default electrical stimulation control parameters and sending the M control instructions to the electrical stimulation equipment.
S306: and judging whether the bending angles of all the fingers to be stimulated reach a preset bending angle threshold value, if so, entering a step S307, and otherwise, entering a step S308.
S307: and (3) completing electric stimulation:
when the electrical stimulation is completed, the upper computer sends the electrical stimulation equipmentSending a stop instruction to determine the current elbow included angle thetaeaAnd storing the electrical stimulation control parameters into a control parameter database.
S308: adjusting electrical stimulation control parameters:
screening out the fingers to be stimulated with the bending angles not reaching the preset bending angle threshold value, and recording the serial number of the corresponding pulse signal as m*，1≤m*M or less, and the pulse width in the current electrical stimulation control parameter is Pw(m*) Pulse amplitude of Pi(m*) According to the angle theta of the elbow jointeaAngular velocity thetaevAnd the bending angle theta of each finger to be stimulatedf(n) calculating the adjusted pulse width P'w(m*) Pulse amplitude P'i(m*) The calculation formula is as follows:
wherein E is1Parameters representing the control of pulse width by elbow joint angle, E2Parameter representing the control of pulse width by angular velocity of the elbow joint, Fw(n) represents the bending angle theta of each finger to be stimulatedf(N) parameters controlling pulse width, N being 1,2, …, N, E3Parameters representing the amplitude of the control pulse using the angle of the elbow joint, E4Parameter representing the amplitude of the control pulse using the angular velocity of the elbow joint, Fi(n) represents the bending angle theta of each finger to be stimulatedf(n) parameters controlling the pulse amplitude. The above parameters can be obtained by experiments.
The electrical stimulation device 5 comprises a pulse generation device and M pairs of electrode plates, N fingers to be stimulated are divided into M groups according to actual conditions in advance, and the N pairs of electrode plates are arranged on muscles corresponding to the M groups of fingers to be stimulated on the arm of the user. Generally, fingers to be stimulated with relatively close muscle positions can be divided into a group, and if fine control is needed, a pair of electrode plates can be arranged on each finger to be stimulated, namely M is equal to N. The pulse generating device generates corresponding pulses according to the M control instructions sent by the upper computer 4 and outputs the corresponding pulses to the corresponding electrode plates so as to stimulate the corresponding muscles of the fingers to contract; and stopping pulse generation after receiving a stop instruction sent by the upper computer 4. Fig. 4 is an example of mounting of the electrode sheet. The pair of electrode pads shown in fig. 4 is used for stimulating muscles corresponding to the middle, ring and little fingers of the left hand, and the electrode pads A, B of the pair of electrode pads are respectively installed on the inner side and the outer side of the forearm of the left hand to form a closed current loop. If the corresponding muscles of the thumb and the index finger of the left hand need to be stimulated, the electrode plate pairs are installed in a similar manner.
Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.
Claims (1)
1. The utility model provides a palm electro photoluminescence control system based on elbow motion drive which characterized in that includes inertial measurement module, crooked sensor module, data processing module, host computer, electro photoluminescence equipment, wherein:
the inertia measurement module comprises 2 inertia measurement units which are respectively arranged on the upper arm and the lower arm of a user and send the acquired attitude quaternion to the data processing module;
the bending sensor module comprises N bending sensors, N fingers to be stimulated are arranged in the 5 fingers of the user in advance according to actual needs, and the N bending sensors are respectively arranged on the back surfaces of the corresponding fingers to be stimulated and used for acquiring bending angles of the fingers and then sending the bending angles to the data processing module;
the data processing module is used for summing the received attitude quaternion and the finger bending angle for preprocessing and then sending the sum to the upper computer;
the upper computer is used for periodically setting electrical stimulation control parameters by utilizing the received attitude quaternion and the finger bending angle according to a preset control period, generating a control command and sending the control command to the electrical stimulation equipment, and the specific method for generating the control command is as follows:
s1: calculating to obtain the included angle theta of the elbow joint according to the posture quaternion of the large arm and the small armeaAnd angular velocity thetaev；
S2: judging the included angle theta of the elboweaWhether the elbow angle is within the preset elbow included angle range or not is judged, if yes, the step S3 is carried out, otherwise, no operation is carried out, the control is finished, and the next control period is waited;
s3: judging whether the elbow included angle theta exists in a preset control parameter databaseeaCorresponding electrical stimulation control parameters, if the corresponding electrical stimulation control parameters exist, the step S4 is carried out, otherwise, the step S5 is carried out;
s4: according to the elbow included angle theta already existing in the control parameter databaseeaGenerating N control instructions according to the corresponding electrical stimulation control parameters, wherein the electrical stimulation control parameters comprise width and amplitude parameters of M pulse information generated by the electrical stimulation equipment, and sending the generated M control instructions to the electrical stimulation equipment;
s5: generating M control instructions according to preset default electrical stimulation control parameters and sending the M control instructions to electrical stimulation equipment;
s6: judging whether the bending angles of all the fingers to be stimulated reach a preset bending angle threshold value, if so, entering a step S7, otherwise, entering a step S8;
s7: after the electric stimulation is completed, the upper computer sends a stopping instruction to the electric stimulation equipment, and stores the current elbow angle theta and the electric stimulation control parameters into a control parameter database;
s8: the specific method for adjusting the electrical stimulation control parameters comprises the following steps: screening out the fingers to be stimulated with the bending angles not reaching the preset bending angle threshold value, and recording the serial number of the corresponding pulse signal as m*，1≤m*M or less, and the pulse width in the current electrical stimulation control parameter is Pw(m*) Pulse amplitude of Pi(m*)，According to the angle theta of the elbow jointeaAngular velocity thetaevAnd the bending angle theta of each finger to be stimulatedf(n) calculating the adjusted pulse width P'w(m*) Pulse amplitude Pi′(m*) The calculation formula is as follows:
wherein E is1Parameters representing the control of pulse width by elbow joint angle, E2Parameter representing the control of pulse width by angular velocity of the elbow joint, Fw(n) represents the bending angle theta of each finger to be stimulatedf(N) parameters controlling pulse width, N being 1,2, …, N, E3Parameters representing the amplitude of the control pulse using the angle of the elbow joint, E4Parameter representing the amplitude of the control pulse using the angular velocity of the elbow joint, Fw(n) represents the bending angle theta of each finger to be stimulatedf(n) a parameter controlling the amplitude of the pulse;
the electrical stimulation equipment comprises a pulse generation device and M pairs of electrode plates, wherein N fingers to be stimulated are divided into M groups in advance according to actual conditions, and the N pairs of electrode plates are arranged on muscles corresponding to the M groups of fingers to be stimulated on the arm of a user; the pulse generating device generates corresponding pulses according to the M control instructions sent by the upper computer and outputs the corresponding pulses to the corresponding electrode plates so as to stimulate the corresponding muscles of the fingers to contract; and stopping pulse generation after receiving a stop instruction sent by the upper computer.
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| CN109106339A (en) * | 2018-08-31 | 2019-01-01 | 福州大学 | A kind of On-line Estimation method of elbow joint torque under functional electrostimulation |
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| CN110075420A (en) * | 2019-04-26 | 2019-08-02 | 南通大学 | A kind of research method of spinal function electrical stimulation signal to lower limb gait regulating and controlling effect |
| CN209500004U (en) * | 2018-11-07 | 2019-10-18 | 广西中医药大学 | A kind of glove-type electric physical therapy hand Functional Appliance |
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Patent Citations (4)
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|---|---|---|---|---|
| CN109106339A (en) * | 2018-08-31 | 2019-01-01 | 福州大学 | A kind of On-line Estimation method of elbow joint torque under functional electrostimulation |
| CN209500004U (en) * | 2018-11-07 | 2019-10-18 | 广西中医药大学 | A kind of glove-type electric physical therapy hand Functional Appliance |
| AU2019100370A4 (en) * | 2019-04-05 | 2019-05-16 | Ming Chen | A method of reducing fear memory by using magnetic resonance imaging-navigated transcranial magnetic stimulation(TMS) |
| CN110075420A (en) * | 2019-04-26 | 2019-08-02 | 南通大学 | A kind of research method of spinal function electrical stimulation signal to lower limb gait regulating and controlling effect |
Non-Patent Citations (2)
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| ZHAN LI等: "Real-time closed-loop functional eclectical stimulation control of muscle activation with evoked electromyography feedback for spinal cord injured patients", 《INTERNATIONAL JOURNAL OF NEURAL SYSTEM 》 * |
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