CN112426624B - Multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation - Google Patents
Multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation Download PDFInfo
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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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- 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
- A61N1/3603—Control systems
- A61N1/36034—Control systems specified by the stimulation parameters
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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
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
Abstract
The invention discloses a multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation, which comprises: an upper computer; the tremor suppression experiment platform acquires wrist movement data of the patient in real time through the embedded sensor; the control platform is used for acquiring wrist movement data of a patient and uploading the movement data to the upper computer, and the upper computer generates a first control signal according to the movement data and sends the first control signal to the control platform; and the multichannel electrical stimulation instrument realizes the electrical stimulation control on corresponding muscles of the wrist through the surface patch electrode according to a first control signal output by the control platform. Therefore, the wrist tremor suppression system provided by the embodiment of the invention organically combines the upper computer, the control platform and the tremor suppression experiment platform, realizes the suppression of the patient's wrist tremor and the tracking of the designated track, and has the advantages of high integration level, simplicity and convenience in operation, friendly interface and clinical application value.
Description
Technical Field
The invention relates to the technical field of auxiliary medical rehabilitation training, in particular to a multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation.
Background
Pathological tremor is an involuntary, rhythmic contraction of muscles that results in involuntary tremor in one or more parts of the body. This is a common movement disorder and the most commonly affected sites are the hand and wrist. Tremor, while not life threatening, can severely affect a patient's work and daily life. In the case of the conventional treatment methods, although drugs and surgical operations have a certain curative effect, long-term administration of the drugs increases the tolerance of the human body to the drugs and reduces the curative effect, and side effects are also generated. The surgical treatment is irreversible, and has high cost and high risk, and the possibility of postoperative complications exists. Therefore, the application of the electromechanical auxiliary technology in the field of tremor suppression provides an effective solution for treating tremor.
Functional Electrical Stimulation (FES) is a method of improving or restoring the function of stimulated muscles by stimulating one or more groups of muscles with a predetermined program by using a low-frequency pulse current of a certain intensity to induce muscle movement. The functional electrical stimulation is applied to a tremor suppression system, and controllable pulse current is utilized to stimulate relevant muscles which induce tremor to generate muscle contraction which is opposite to the tremor movement, so that the tremor amplitude is reduced.
The tremor suppression system based on FES of the related art rarely has the function of suppressing tremor of multiple degrees of freedom of wrists, and mostly adopts a single-channel electrical stimulation input mode, but the problem of the related art is that the single-channel electrical stimulation input mode can cause higher strength of electrical stimulation signals because the movement of each degree of freedom of a wrist joint can involve with multiple muscles, so that the muscles of a tested patient are easy to fatigue, and the tremor suppression effect is influenced.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art.
Therefore, the invention aims to provide a multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation, which organically combines an upper computer, a control platform and a tremor suppression experiment platform, and realizes the tracking of a designated track while realizing closed-loop tremor of the patient with two degrees of freedom of motion of internal and external rotation and up and down cutting of the wrist.
In order to achieve the above object, an embodiment of the present invention provides a multiple degree of freedom wrist tremor suppression system based on functional electrical stimulation, including: the system comprises an upper computer, a control module and a control module, wherein the upper computer comprises upper computer control software, the upper computer control software comprises a human-computer interaction interface and a related control algorithm, and the upper computer control software is realized by MATLAB/Simulink; the system comprises a tremor suppression experiment platform, a sensor and a data processing module, wherein the tremor suppression experiment platform is a multi-degree-of-freedom wrist movement experiment platform and acquires wrist movement data of a patient in real time through the embedded sensor; the control platform is connected with the tremor suppression experiment platform and the upper computer, and is used for acquiring wrist movement data of the patient and uploading the acquired wrist movement data of the patient to the upper computer, and the upper computer generates a first control signal according to the wrist movement data of the patient and sends the first control signal to the control platform; the multi-channel electrical stimulation instrument is connected with the control platform and realizes electrical stimulation control on corresponding muscles of the wrist through the surface patch electrode according to the first control signal output by the control platform, wherein each channel of the multi-channel electrical stimulation instrument can be independently controlled, the electrical stimulation intensity is manually adjusted through a potentiometer of the electrical stimulation instrument, and the electrical stimulation pulse width is adjusted through a control algorithm.
According to the multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation, tremor suppression experiment platform acquires wrist movement data of a patient in real time through an embedded sensor, a control platform acquires the wrist movement data and uploads the acquired movement data to an upper computer, the upper computer generates a first control signal according to the wrist movement data of the patient and sends the first control signal to a multi-channel electrical stimulator through the control platform, and the multi-channel electrical stimulator performs electrical stimulation contraction on corresponding muscles of the wrist of the patient through multi-surface electrodes. Therefore, the multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation organically combines the upper computer, the control platform and the tremor suppression experiment platform, and uses the multi-surface patch electrode to perform functional electrical stimulation on corresponding muscles of a patient, so that the closed-loop tremor suppression of the movement of the patient with two degrees of freedom including eversion in the wrist and up-down cutting is realized, and simultaneously tracking of an appointed track is realized.
According to one embodiment of the invention, the human-computer interaction Interface comprises a muscle-bone model parameter identification module, a control algorithm selection module and a state monitoring module, and is realized by MATLAB GUI (Graphical User Interface); the correlation control algorithm comprises filter-basedControl algorithm, gradient-based repetitive control algorithm, LQR (Linear Quadratic Regulator) repetitive control algorithm, and H ∞ And repeating a control algorithm, wherein the related control algorithm is realized by MATLAB, and calling compensator parameters generated by the m files in Simulink.
According to one embodiment of the invention, the muscle-bone model parameter identification module is used for acquiring muscle-bone model parameters of a patient before a tremor suppression experiment is performed, and identifying the muscle-bone model parameters according to a selected muscle-bone model identification method and an electrical stimulation input signal type, so as to provide guarantee for subsequent more effective controller design; the control algorithm selection module is used for providing four different control algorithms for the patient to perform tremor suppression so as to improve the tremor suppression effect; and the state monitoring module is used for displaying the parameter identification and tremor suppression experiment results of the muscle-bone model in real time.
According to one embodiment of the invention, the filtering-based control algorithm incorporates a high-pass or band-pass filter in the feedback control loop, selecting an appropriate filter cutoff frequency according to the tremor frequency of the tremor patient to achieve a maximum closed-loop gain in the tremor frequency range to suppress tremor, and a minimum closed-loop gain and phase lag in the 0-1Hz range to achieve voluntary movement by the patient; the gradient-based repetitive control algorithm, the LQR repetitive control algorithm and the H ∞ The repetitive control algorithms are all based on repetitive control to achieve full suppression of periodic interference signals, and the gradient-based repetitive control algorithm, the LQR repetitive control algorithm and the H ∞ The repetitive control algorithm needs to improve the stability and dynamic performance of a closed-loop system by designing a compensator; the design of the repeated control algorithm compensator based on the gradient adopts a gradient-based method, namely a Markov parameter based on the wrist muscle bone model impulse response to construct the compensator design, the design of the LQR repeated control algorithm compensator adopts an LQR optimal feedback system design method, the tuning of the compensator parameter is realized through a design state linear feedback control law, and the H is the H ∞ Design of repetitive control algorithm compensator based on robust H ∞ Control methodIs prepared from H ∞ The controller is designed to be represented as an optimization problem of uncertainty of a controlled muscle bone model, and utilizes a weight function to optimize the performance of the system.
According to one embodiment of the invention, the control platform is realized by a dSPACE real-time semi-physical control working platform, and is in hardware connection with the upper computer through a network cable, software of the dSPACE system can be in seamless connection with MATLAB/Simulink, and a real-time interface required by a tremor suppression system is integrated in a Simulink model, so that the dSPACE is utilized to realize communication with the upper computer, obtain wrist movement data of a patient of the tremor suppression experimental platform, and transmit the first control signal.
According to one embodiment of the invention, the tremor suppression experiment platform consists of a fixing mechanism, a supporting and adjusting mechanism, an angle measuring mechanism and a tremor inducing mechanism, wherein the fixing mechanism comprises a fixing plate, an equipment rear baffle and an equipment fixing clamp; the supporting and adjusting mechanism comprises an upper arm U-shaped supporting frame, a front arm U-shaped supporting frame, an upper arm angle adjusting frame, an upper arm position adjusting frame, a wrist fixing rod, a palm supporting splint, a palm splint fixing rod, a wrist fixing rod adjusting bolt, a palm splint angle adjusting bolt, a palm supporting splint adjusting bolt and a long strip-shaped hole; the angle measuring mechanism comprises an angle indicator and an angle sensor; the induced tremor mechanism includes a dc motor.
According to one embodiment of the invention, the tremor-inducing mechanism generates a second control signal with a certain frequency and a certain amplitude to the dc motor through the related control algorithm, and the torque of the dc motor is transmitted to the palm support splint through the linkage shaft, so that the palm support splint swings at a high frequency, and the wrist of the normal subject moves like tremor.
Drawings
FIG. 1 is a block diagram of a multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a human-computer interface of a wrist tremor suppression system according to an embodiment of the invention;
FIG. 3 is a schematic diagram of the closed-loop feedback control of a wrist tremor suppression system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a tremor suppression experimental platform of a wrist tremor suppression system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a control platform and an electrical stimulator of a wrist tremor suppression system, according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a wrist tremor suppression system, according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation according to the embodiments of the present invention is described below with reference to the drawings.
Fig. 1 is a block diagram of a multiple degree of freedom wrist tremor suppression system based on functional electrical stimulation according to an embodiment of the present invention. As shown in fig. 1, the multiple freedom wrist tremor suppression system based on functional electrical stimulation according to the embodiment of the present invention includes: the system comprises an upper computer 10, a tremor suppression experiment platform 20, a control platform 30 and a multi-channel electrical stimulator 40.
The upper computer 10 comprises upper computer control software 101, the upper computer control software 101 comprises a human-computer interaction interface 1011 and a related control algorithm, and the upper computer control software 101 is realized through MATLAB/Simulink; the tremor suppression experiment platform 20 is a multi-degree-of-freedom wrist movement experiment platform, and the tremor suppression experiment platform 20 acquires wrist movement data of the patient in real time through the embedded sensor 60; the control platform 30 is connected with the tremor suppression experiment platform 20 and the upper computer 10, the control platform 30 is used for acquiring wrist movement data of the patient and uploading the acquired wrist movement data of the patient to the upper computer 10, and the upper computer 10 generates a first control signal according to the wrist movement data of the patient and sends the first control signal to the control platform 30; the multi-channel electrical stimulator 40 is connected with the control platform 30, the multi-channel electrical stimulator 40 controls electrical stimulation of corresponding muscles of the wrist through the surface patch electrode 50 according to a first control signal output by the control platform 30, wherein each channel of the multi-channel electrical stimulator 40 can be independently controlled, electrical stimulation intensity is manually adjusted through a potentiometer of the electrical stimulator, and electrical stimulation pulse width is adjusted through a control algorithm.
It should be noted that the tremor suppression experiment platform 20 is a two-degree-of-freedom wrist movement experiment platform, which can realize tremor suppression in two directions of inward and outward turning and up and down cutting of the wrist, and the tremor suppression experiment platform 20 can be conveniently installed on a wheelchair or a chair of a patient. The inline sensor 60 is a coaxial angle sensor 60. The multi-channel electrical stimulator 40 is a voltage-controlled multi-channel electrical stimulator and is connected with a system through an I/O interface provided by dSPACE, each channel consists of a series of 40Hz biphasic pulses, the pulse intensity can be adjusted by a potentiometer, and the adjustment of the pulse width is realized by an upper computer control algorithm.
It can be understood that the tremor suppression experiment platform 20 acquires wrist movement data of a patient in real time through an embedded sensor, the control platform 30 acquires the wrist movement data and uploads the acquired movement data to the upper computer 10, the upper computer 10 generates a first control signal according to the wrist movement data of the patient, namely according to the position deviation of a specified tracking track and an actual tracking track, and sends the first control signal to the multi-channel electrostimulator 40 through the control platform 30, and the multi-channel electrostimulator 40 performs electrostimulation contraction on corresponding muscles of the wrist of the patient through the multi-surface patch electrode 50, so that the purposes of suppression of closed-loop tremor of the wrist of the patient in-turn and up-down-cut two-degree-of-freedom movement and tracking of the specified track are achieved. In addition, the multi-channel electrical stimulation mode can reduce the intensity of electrical stimulation signals, delay the muscle fatigue of the tested patient and effectively improve the inhibition effect of tremor.
According to an embodiment of the invention, as shown in fig. 2, the human-computer interface 1011 includes a muscle bone model parameter identification module 01 and a control algorithmThe selection module 02 and the state monitoring module 03, wherein the human-computer interaction Interface 1011 is realized by MATLAB GUI (Graphical User Interface); the correlation control algorithm includes a filter-based control algorithm, a gradient-based repetitive control algorithm, an LQR (Linear Quadratic Regulator) repetitive control algorithm, and an H ∞ And repeating a control algorithm, wherein the related control algorithm is realized by MATLAB, and calling compensator parameters generated by the m files in Simulink.
Further, according to an embodiment of the present invention, the muscle-bone model parameter identification module 01 is configured to obtain muscle-bone model parameters of the patient before performing the tremor suppression experiment, and identify the muscle-bone model parameters according to the selected muscle-bone model identification method and the type of the electrical stimulation input signal, so as to provide a guarantee for a more effective subsequent controller design; the control algorithm selection module 02 is used for providing four different control algorithms for the patient to perform tremor suppression so as to improve tremor suppression effect; the state monitoring module 03 is used for displaying the parameter identification and tremor suppression experiment results of the muscle-bone model in real time.
It can be understood that, as shown in fig. 2, the user may conveniently select a musculoskeletal model identification method and an electrical stimulation input signal type through the musculoskeletal model parameter identification module 01, so that the musculoskeletal model parameter identification may be rapidly achieved. The muscle bone model identification method comprises a two-stage parameter identification method and a one-stage parameter identification method, and the input signal types comprise a pulse signal and a sweep frequency sine signal.
The muscle bone model selected by the two-stage parameter identification method is a nonlinear Hammerstein structure, which comprises nonlinear static muscle activation characteristics and linear dynamic characteristics. The nonlinear static muscle activation characteristic utilizes pulse signals to obtain isometric recruitment characteristic parameters of static nonlinear muscles, and a nonlinear parameter fitting result is displayed in real time by the state monitoring module 03; the linear dynamic characteristic utilizes sweep frequency sinusoidal signals to stimulate related muscles of the wrist, the measurement output of the wrist joint movement angle and the model output data are displayed on the interface of the state monitoring module 03 in real time, and the parameters of the wrist linear dynamic muscle bone model are identified through the input and output data set, so that the patient can obtain an appointed tracking track by utilizing the state monitoring module 03, and the tracking effect of the system on the appointed track is monitored while the tremor of the patient is inhibited in real time.
The parameter identification in one stage is more convenient, the selected muscle bone model is of a linear ARX (Autoregressive) structure, and the linear parameters are directly identified by utilizing sweep frequency sinusoidal signals and angle output signals of wrist joint motion. However, because the muscle-bone model of the human body has inherent nonlinearity, the modeling error needs to be compensated by a subsequent robust controller, and a better tremor suppression effect can be obtained.
The control algorithm selection module 02 provides a plurality of control algorithms for patient tremor suppression such as a filter-based control algorithm, a gradient-based repetitive control algorithm, an LQR (Linear Quadratic Regulator) repetitive control algorithm, and an H-optimal Quadratic Regulator ∞ By repeating the control algorithms, the tremor suppression effect of each control algorithm can be observed on the interface of the state monitoring module 03, so that the patient can know the fitting degree and modeling accuracy of the wrist musculoskeletal model and the tremor suppression effect.
FIG. 3 is a schematic diagram illustrating the closed-loop feedback control of the wrist tremor suppression system according to an embodiment of the present invention. Wherein r (k) is an appointed tracking track, y (k) is wrist motion data, namely a wrist motion position, acquired by the angle sensor in real time, e (k) is an error between the appointed tracking track and the actual wrist motion position, and d (k) is a tremor signal, and can be regarded as interference acting on a musculoskeletal dynamic system.
When the two-stage parameter identification method is selected through the muscle bone model parameter identification module 01, the muscle bone model adopts a nonlinear Hammerstein structure and consists of a static nonlinear muscle equal-length recruitment characteristic f (u) and a linear dynamic characteristic G (z). Because the wrist muscle bone model has inherent non-linear characteristic, a feedforward linear controller is adopted firstly
Performing a linearization operation on the wrist model, i.e. </or>
For subsequent design of the linear feedback controller C (z).
When the parameter identification module 01 of the muscle-bone model is used for selecting a stage of parameter identification method, the equal-length recruitment characteristics of static nonlinear muscles are not considered, so that a feedforward linearization controller is not needed
Therefore, the wrist tremor suppression system provided by the embodiment of the invention organically combines the upper computer, the control platform and the tremor suppression experiment platform, and not only can be used for carrying out independent and rapid wrist muscle bone model parameter identification and corresponding control algorithm design on each tested patient, so that the system is more personalized, practical and effective, but also the visual operation interface can enable the patient to know the tremor suppression effect in real time, and can be used for comparing the tremor suppression effects of the four control algorithms to find a method more suitable for the user.
In addition, the design of the feedback controller C (z) in the invention is realized by adopting four methods, namely a control algorithm based on filtering, a repetitive control algorithm based on gradient, an LQR repetitive control algorithm and an H ∞ The control algorithm is repeated.
Wherein, according to one embodiment of the present invention, a filtering based control algorithm incorporates a high pass or band pass filter in the feedback control loop, selecting an appropriate filter cutoff frequency according to the tremor frequency of the patient with tremor to achieve a maximum closed loop gain within the tremor frequency range to suppress tremor, and a minimum closed loop gain and phase lag within the range of 0-1Hz to achieve patient's voluntary movement; gradient-based repetitive control algorithm, LQR repetitive control algorithm and H ∞ The repetitive control algorithms are based on repetitive control to achieve complete suppression of periodic interfering signals.
It can be understood that the filtering-based control algorithm is a traditional control method for tremor suppression by using FES, the invention adopts a 6-order Butterworth filter, selects a proper filter cut-off frequency according to different tremor frequencies of a tremor patient so as to realize the maximum closed-loop gain in the tremor frequency range to suppress tremor and the minimum closed-loop gain and phase lag in the range of 0-1Hz so as to realize the autonomous movement of the patient; the other three control algorithms are all repetitive control algorithms, because the tremor signal can be regarded as periodic disturbance, and the repetitive control based on the internal model principle can realize the complete following of the periodic signal or the complete inhibition of the periodic interference signal, so the method is more suitable for the inhibition of the wrist tremor signal. Wherein, the feedback repetitive controller is:
C(z)＝G IM K(z),
wherein K (z) is a compensator for improving closed loop system stability and dynamic performance; g IM For the internal mold structure of the repetitive controller, the complete suppression of the periodic interference signal can be realized, and the discrete form is as follows:
wherein the content of the first and second substances,
T d and T s The tremor signal and the sampling period of the controller, respectively.
Further, in one embodiment of the present invention, a gradient-based repetitive control algorithm, an LQR repetitive control algorithm, and H ∞ The repetitive control algorithm needs to improve the stability and dynamic performance of a closed-loop system by designing a compensator; the design of the repeated control algorithm compensator based on the gradient adopts a method based on the gradient, namely, the design of the compensator is constructed based on Markov parameters of wrist muscle bone model impulse response, the design of the LQR repeated control algorithm compensator adopts an LQR optimal feedback system design method, and the setting of the parameters of the compensator, H, is realized through a design state linear feedback control law ∞ The design of the repetitive control algorithm compensator is based on robust H ∞ Control method of H ∞ The controller is designed to optimize the uncertainty of the controlled muscle bone model and to optimize the performance of the system by using the weight function.
Wherein the content of the first and second substances,filter-based control algorithm, gradient-based repetitive control algorithm, LQR repetitive control algorithm, and H ∞ And a repetitive control algorithm is realized by MATLAB, the tremor suppression closed-loop feedback control system is built on Simulink, the compensator parameters generated by the m file are called, and Real-Time Interface RTI (Real-Time Interface) of dSPACE is utilized to realize Real-Time code downloading from a Simulink model to a controller dSPACE.
According to an embodiment of the present invention, as shown in fig. 4, the control platform 30 is implemented by a dSPACE real-time semi-physical control working platform, and establishes a hardware connection with the upper computer 10 through a network cable, and software of a dSPACE system can be seamlessly connected with MATLAB/Simulink, and a real-time interface required by a tremor suppression system is integrated in a Simulink model, so that the dSPACE is utilized to implement communication with the upper computer 10, obtain wrist movement data of a patient of the tremor suppression experimental platform, and transmit a first control signal.
It can be understood that the processor of the dsace hardware system has high-speed computing capability and is provided with rich I/O support, the connection of the sensor and the peripheral equipment related to the invention is completely met, meanwhile, the software environment has strong functions and convenient use, the processor comprises a whole set of tools for realizing automatic code generation/downloading and test/debugging, in the running process of the system, the upper computer 10 and the dsace working platform are connected through a network cable, and the IP address configured by the network card of the upper computer is required to be in the same network segment with the dsace hardware. In addition, the multichannel electrical stimulation instrument 40, the angle sensor embedded in the tremor suppression experiment platform 20, the motor driver and the like are connected through a dSPACE interface.
According to one embodiment of the present invention, as shown in fig. 5, the tremor suppression experiment platform 20 is composed of a fixing mechanism, a supporting and adjusting mechanism, an angle measuring mechanism and a tremor inducing mechanism, wherein the fixing mechanism includes a fixing plate 15, a device rear baffle 13 and a device fixing clamp 14; the supporting and adjusting mechanism comprises an upper arm U-shaped supporting frame 1, a forearm U-shaped supporting frame 3, an upper arm angle adjusting frame 17, an upper arm position adjusting frame 16, a wrist fixing rod 4, a palm supporting splint 5, a palm splint fixing rod 8, a wrist fixing rod adjusting bolt 12, a palm splint angle adjusting bolt 7, a palm supporting splint adjusting bolt 6 and a strip-shaped hole 2; the angle measuring mechanism includes an angle indicator 9 and an angle sensor 60; the induced tremor mechanism comprises a dc motor 11.
Specifically, the fixation mechanism can conveniently mount the tremor suppression experiment platform 20 at the arm rests of the patient's wheelchair or chair via the device fixation plate 15, the device tailgate 13, and the device fixation clamp 14. The patient can perform the inhibition experiment of the wrist tremor by sitting on the wheelchair or the chair comfortably.
Tremor suppression experiment platform 20 mainly realizes that the wrist is turned inside and outside and the tremor of two degrees of freedom of upper and lower surely suppresses, supports patient's left arm or right arm through upper arm U type support frame 1 and forearm U type support frame 3, and upper arm angle adjusting bracket 17 and upper arm position adjusting bracket 16 can carry out real-time regulation according to the bending angle of patient's upper arm elbow joint and the length of upper arm. The wrist of the patient passes through the wrist fixing rod 4 to place the palm in the palm support splint 5, and the distance between the two rods of the wrist fixing rod 4 and the distance between the two plates of the palm support splint 5 can be adjusted by the wrist fixing rod adjusting bolt 12 and the palm support splint adjusting bolt 6 respectively. After the patient's upper arm angle adjusting bracket 17 and upper arm position adjusting bracket 16, wrist dead lever adjusting bolt 12 and palm support splint adjusting bolt 6 finish adjusting according to the demand, use the fixed examinee's of rolling area arm through rectangular shape hole 2 on upper arm U type support frame 1 and the forearm U type support frame 3 to prevent that the patient from appearing shoulder joint and elbow joint's motion when carrying out wrist joint tremor and restrain.
Whole palm supports splint 5 and passes through palm splint dead lever 8 fixed position, and realizes the linkage in the coaxial single horizontal plane of palm support splint 5, angle indicator 9 and angle sensor 60. When a patient performs appointed trajectory tracking through the wrist in-out motion, the angle indicator 9 can visually represent the wrist joint angle position of the patient, and specific wrist joint angle data are acquired by the coaxial angle sensor 60 and are uploaded to the upper computer 10 through the control platform 30 in real time. The patient can obtain the appointed tracking track through the state monitoring module 03, and adjust the wrist varus-valgus angle to realize perfect tracking. The palm supports splint 5 can nimble angle regulation to accomplish the motion of another up-down cut degree of freedom of wrist, and carry out the angle fixation through palm splint angle adjusting bolt 7.
Further, according to an embodiment of the present invention, the tremor-inducing mechanism generates a second control signal with a certain frequency and a certain amplitude to the dc motor 11 through a related control algorithm, and the torque of the dc motor 11 is transmitted to the palm support splint 5 through the linkage shaft, so that the palm support splint 5 swings at a high frequency, and the wrist of the normal subject moves like tremor.
It can be understood that the multi-degree-of-freedom wrist intention tremor suppression system based on functional electrical stimulation according to the embodiment of the present invention needs to be tested on normal subjects before being put into clinical experiments, and the dc motor 11 is a device for generating induced tremor. The upper computer control software 101 can generate a second control signal with a certain frequency and a certain amplitude to the direct current motor 11, and the torque of the direct current motor 11 is transmitted to the palm support splint 5 through the linkage shaft, so that the palm support splint 5 swings at a high frequency, and the high-frequency swing can cause the wrist of a normal subject to generate movement similar to tremor. Therefore, the tremor-inducing device is added to the tremor-inhibiting experimental platform, so that the tremor-inhibiting experiment of normal subjects can be developed, and effective guarantee is provided for clinical application of the system.
As shown in fig. 6, the major muscles controlling the inward and outward turning and the up and down cutting of the wrist are Flexor Carpi Radialis (FCR), extensor Carpi Radialis (ECR), flexor Carpi Ulnaris (FCU) and Extensor Carpi Ulnaris (ECU), the surface patch electrodes 50 are attached to the corresponding muscles, and the controllable contraction of the muscles is realized by using the functional electrical stimulation signals.
The tremor suppression principle of the wrist tremor suppression system provided by the embodiment of the invention is as follows: when the wrist of the patient completes the designated trajectory tracking, the designated trajectory can deviate from the actual wrist joint movement angle of the patient due to the existence of tremor. At the moment, the coaxial angle sensor 60 embedded in the tremor suppression experiment platform 20 is used for measuring the wrist movement angle data of the patient in real time, the angle data are uploaded to the upper computer 10 through the control platform 30, the upper computer 10 generates a first control signal according to the angle data, the first control signal is sent to the multichannel electrical stimulation instrument 40 through the control platform 30, and then the electrical stimulation intensity and time applied to corresponding muscles are adjusted, so that the purpose of tremor suppression is achieved.
In summary, according to the multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation provided by the embodiment of the present invention, the tremor suppression experiment platform acquires wrist movement data of a patient in real time through the embedded sensor, the control platform acquires the wrist movement data and uploads the acquired movement data to the upper computer, the upper computer generates a first control signal according to the wrist movement data of the patient and sends the first control signal to the multi-channel electrical stimulator through the control platform, and the multi-channel electrical stimulator performs electrical stimulation contraction on corresponding muscles of the wrist of the patient through the multi-surface electrodes. Therefore, the multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation organically combines the upper computer, the control platform and the tremor suppression experiment platform, and uses the multi-surface patch electrodes to perform functional electrical stimulation on corresponding muscles of a patient, so that closed-loop tremor of the patient with two degrees of freedom of movement including inward turning and outward turning and up and down cutting of the wrist of the patient is realized, and tracking of an appointed track is also realized.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (5)
1. A multi-degree-of-freedom wrist tremor suppression system based on functional electrical stimulation is characterized by comprising:
the upper computer comprises upper computer control software, the upper computer control software comprises a human-computer interaction interface and a related control algorithm, the upper computer control software is realized through MATLAB/Simulink, the human-computer interaction interface comprises a muscle-bone model parameter identification module, a control algorithm selection module and a state monitoring module, the muscle-bone model parameter identification module is used for acquiring muscle-bone model parameters of a patient before a tremor suppression experiment is carried out, the muscle-bone model parameters are identified according to a selected muscle-bone model identification method and an electrical stimulation input signal type, the human-computer interaction interface is realized through a MATLABGUI graphical user interface, and the related control algorithm comprises a filtering-based control algorithm, a gradient-based repetitive control algorithm, an LQR linear optimal quadratic regulator repetitive control algorithm and an H-H control algorithm ∞ Repeating a control algorithm, wherein the related control algorithm is realized by MATLAB, and m files are called in Simulink to generate compensator parameters, wherein a high-pass or band-pass filter is arranged in a feedback control loop of the control algorithm based on filtering, and a proper filter cut-off frequency is selected according to the tremor frequency of the tremor patient so as to realize the maximum closed-loop gain in the tremor frequency range to suppressTremor, and minimal closed-loop gain and phase lag in the 0-1Hz range to achieve autonomous patient motion, the gradient-based repetitive control algorithm, the LQR repetitive control algorithm, and H ∞ The repetitive control algorithms are all based on repetitive control to achieve full suppression of periodic interference signals, and the gradient-based repetitive control algorithm, the LQR repetitive control algorithm and the H ∞ The repetitive control algorithm needs to improve the stability and dynamic performance of the closed-loop system by designing a compensator, wherein the design of the compensator of the gradient-based repetitive control algorithm adopts a gradient-based method, namely constructing the design of the compensator based on Markov parameters of pulse response of a wrist musculoskeletal model, the design of the compensator of the LQR repetitive control algorithm adopts an LQR optimal feedback system design method, and the setting of the parameters of the compensator is realized by designing a state linear feedback control law, and the H is a function of improving the stability and dynamic performance of the closed-loop system ∞ Design of repetitive control algorithm compensator based on robust H ∞ Control method of ∞ Designing and expressing the controller as an optimization problem of uncertainty of a controlled muscle bone model, and optimizing the performance of the system by using a weight function;
the tremor suppression experiment platform is a multi-degree-of-freedom wrist movement experiment platform, and acquires wrist movement data of a patient in real time through an embedded sensor;
the control platform is connected with the tremor suppression experiment platform and the upper computer, and is used for acquiring wrist movement data of the patient and uploading the acquired wrist movement data of the patient to the upper computer, and the upper computer generates a first control signal according to the wrist movement data of the patient and sends the first control signal to the control platform;
the multi-channel electrical stimulator is connected with the control platform and realizes electrical stimulation control on corresponding muscles of the wrist through a surface patch electrode according to the first control signal output by the control platform, wherein each channel of the multi-channel electrical stimulator can be independently controlled, the electrical stimulation intensity is manually adjusted through a potentiometer of the electrical stimulator, and the electrical stimulation pulse width is adjusted through a control algorithm.
2. The wrist tremor suppression system of claim 1, wherein the musculoskeletal model parameter identification module is configured to obtain musculoskeletal model parameters of the patient prior to performing the tremor suppression experiment, and to identify the musculoskeletal model parameters according to the selected musculoskeletal model identification method and the type of electrical stimulation input signal, to provide a guarantee for a more efficient subsequent controller design; the control algorithm selection module is used for providing four different control algorithms for the patient to perform tremor suppression so as to improve the tremor suppression effect; and the state monitoring module is used for displaying the parameter identification and tremor suppression experiment results of the muscle-bone model in real time.
3. The wrist tremor suppression system of claim 1, wherein the control platform is implemented by a dSPACE real-time semi-physical control working platform, and establishes hardware connection with the upper computer through a network cable, and software of the dSPACE system is seamlessly connected with MATLAB/Simulink, and a real-time interface required by the tremor suppression system is integrated in a Simulink model, so that the dSPACE is utilized to implement communication with the upper computer, obtain the tremor suppression experimental platform patient wrist movement data, and transmit the first control signal.
4. The wrist tremor suppression system of claim 1, wherein the tremor suppression experimental platform is comprised of a fixation mechanism, a support and adjustment mechanism, an angle measurement mechanism, and an induced tremor mechanism, wherein the fixation mechanism includes a fixation plate, a device backplate, and a device fixation clamp; the supporting and adjusting mechanism comprises an upper arm U-shaped supporting frame, a forearm U-shaped supporting frame, an upper arm angle adjusting frame, an upper arm position adjusting frame, a wrist fixing rod, a palm supporting splint, a palm splint fixing rod, a wrist fixing rod adjusting bolt, a palm splint angle adjusting bolt, a palm supporting splint adjusting bolt and a long-strip-shaped hole; the angle measuring mechanism comprises an angle indicator and an angle sensor; the induced tremor mechanism includes a dc motor.
5. The system of claim 4, wherein the tremor-inducing mechanism generates a second control signal with a frequency and an amplitude to the dc motor through the associated control algorithm, and the torque of the dc motor is transmitted to the palm support splint through the linkage shaft, so that the palm support splint oscillates with high frequency, thereby enabling the normal subject's wrist to move similar to tremor.
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