CN117563131A - Channel multiplexing myoelectricity-electric stimulation integrated active rehabilitation device - Google Patents
Channel multiplexing myoelectricity-electric stimulation integrated active rehabilitation device Download PDFInfo
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Abstract
The invention provides a channel multiplexing myoelectricity-electric stimulation integrated active rehabilitation device which consists of a plurality of equipment ends and a receiving end. The equipment end is independent equipment capable of providing exercise rehabilitation function and comprises an myoelectricity-electricity stimulation integrated function board and a main control core board. The receiving end is used as an upper computer of the equipment and has the functions of monitoring sEMG signals and electric stimulation parameters of all ports in real time and sending out instructions to adjust the electric stimulation parameters of the equipment end. The device has the advantages of small myoelectricity biofeedback noise and high instantaneity, and can effectively save the number of required electrodes and the arrangement space when the same myoelectricity feedback function is achieved.
Description
Technical Field
The invention relates to the technical field of electro-stimulation physiotherapy instruments, in particular to a channel multiplexing myoelectricity-electro-stimulation integrated active rehabilitation device.
Background
Functional electrical stimulation (functional electrical stimulation, FES) is a technique that uses low frequency pulsed current to stimulate neuromuscular, inducing or simulating normal motor function. It can not only improve or restore the functions of limbs and organs, but also promote the remodeling of human motor neural network and improve the plasticity of the central nervous system, and can be used for treating human motor dysfunction caused by diseases such as cerebral apoplexy.
Surface electromyographic signals (semgs) can be used to assess muscle function. By analyzing the characteristics of sEMG signals, the contraction condition, fatigue degree, coordination and the like of muscles can be known. The method has great help for evaluating muscle functions, making rehabilitation plans, adjusting training intensity and the like. By analyzing the changes of the sEMG signals, the activation condition of the muscle groups of the patient can be directly known, and the movement intention strength of the patient can be revealed.
Simple open loop FES exercise rehabilitation functions are continuous passive activity (Continuous Passive Motion, CPM) rehabilitation that does not include a feedback link to detect the subjective exercise intent of the patient. In recent years, a great deal of research has shown that: passive exercise rehabilitation, which incorporates active exercise intent, produces better neuromuscular rehabilitation effects than simple CPM. Related studies have also discussed in depth that insufficient rehabilitation effects of CPM and exercise rehabilitation controllers incorporating subjective intent of the patient can bring significant improvement to the rehabilitation effects of the patient. It can be known that, for future exercise rehabilitation apparatuses, whether a medical rehabilitation robot or an electric physiotherapy instrument, the combination of a controller fused with subjective exercise intention of a patient and passive cooperative exercise rehabilitation hardware is necessarily one of the main directions of research at the present stage. However, as a non-invasive brain-computer interface technology capable of directly extracting exercise intention, the following drawbacks still exist: the related technology is not mature, and has the defects of high cost, large development difficulty, inconvenient use of patients and difficult clinical popularization.
Most of the electric stimulation physiotherapy apparatuses on the market at present belong to open-loop output equipment, and do not contain myoelectricity acquisition feedback, so that the electric stimulation setting precision is difficult to guarantee.
Part of the myoelectricity-assisted electric physiotherapy instrument generally leads out the myoelectricity acquisition electrode additionally. Because at least two pairs of electrodes are arranged on each muscle group, the density of the electrodes is too high when the cooperative rehabilitation of the multiple muscle groups is carried out, and the patient feels uncomfortable in body feeling. Secondly, because the myoelectricity on hardware is collected and not isolated from the electrical stimulation, because of the problems of amplifier saturation and the like, the collected myoelectricity contains a large amount of noise, and a filtering algorithm is often needed to filter the myoelectricity, so that the real-time performance of the system is reduced and the cost is increased.
Meanwhile, almost all electric physiotherapy instruments in the market almost adopt closed source ecology, and the electric physiotherapy instruments are insufficient in function expansibility and channel number expansibility. The limited number of channels results in the device being unable to provide a coordinated motor rehabilitation pattern for multiple joints, multiple muscle groups; the lack of a necessary open interface leads to the fact that the electric physiotherapy instrument can not carry out cooperative rehabilitation control with other rehabilitation equipment such as brain-computer interfaces, medical exoskeleton and the like, and further leads to the lack of equipment universality.
Simple open loop FES exercise rehabilitation functions are continuous passive activity (Continuous Passive Motion, CPM) rehabilitation that does not include a feedback link to detect the subjective exercise intent of the patient. The disadvantage is that the patient receives passive electrical stimulation which may antagonize the muscle of the patient, and thus the muscle is quickly put into a tired state, resulting in a reduced therapeutic effect. The open loop electrical stimulation treatment principle can be seen in fig. 1, which corresponds to the passive activation of most motor units and part of the sensory feedback nerves of the patient's muscle.
Most of the existing electro-physiotherapy apparatuses need patients to input and adjust electro-stimulation parameters by themselves, and the final proper electro-stimulation parameters can be obtained through repeated adjustment, so that man-machine interaction is complex and unfriendly. Meanwhile, because misoperation of a patient can occur to simultaneously stimulate active muscles and antagonistic muscles of a certain joint, the patient can quickly enter a fatigue state of muscle groups to be treated, and the rehabilitation effect is greatly reduced.
Meanwhile, for the existing ipsilateral myoelectricity-electric stimulation equipment, because myoelectricity signal acquisition and electric stimulation are directly carried out on the affected limb at the same time, large noise can be introduced to myoelectricity acquisition, and a closed-loop control scheme with low cost is difficult to truly realize.
In summary, for an electro-physiotherapy instrument for treating dyskinesia, the existing stage lacks hardware, has small noise, real-time myoelectricity feedback function and strong universality; the rehabilitation algorithm scheme lacks of an integrated system product with low cost and simple man-machine interaction, and can fully integrate subjective movement intention of a patient.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a channel multiplexing myoelectricity-electric stimulation integrated active rehabilitation device. Solves the problems of insufficient treatment effect, inconvenient use, low signal to noise ratio and poor expansibility of the traditional electric physiotherapy instrument.
The invention is realized by the following technical scheme, and provides a channel multiplexing myoelectricity-electric stimulation integrated active rehabilitation device, which consists of a plurality of equipment ends and a receiving end; the device ends are device units capable of independently providing myoelectricity acquisition and electrical stimulation, each device end is provided with four electrode channels, and each channel can be configured into an sEMG acquisition function or an FES function through a channel selection circuit; meanwhile, the equipment ends are all provided with CAN bus interfaces and are used for connecting a plurality of equipment to expand the number of channels and the functional range; each device end is provided with an ESP32 for sending instructions and data to an upper computer by using wifi/Bluetooth; the receiving end is used as an upper computer of the equipment and has the functions of monitoring sEMG signals and electric stimulation parameters of all ports in real time and sending out instructions to adjust the electric stimulation parameters of the equipment end.
Further, the channel selection circuit comprises a general electrode, a relay, a channel switching circuit, a myoelectricity acquisition circuit, a functional electric stimulation circuit, a power management circuit and a main control circuit; the relay is provided with two groups of independent switches, and each group of switches has the gating characteristic of single-pole double-throw; the electrode seat is respectively connected with the myoelectricity acquisition circuit and the functional electric stimulation circuit through a single-pole double-throw switch of the relay; and the control end of the relay is connected with the IO pin of the main control through the main control circuit.
Further, the channel switching circuit consists of an electrode base, an optical relay, a triode and a follow current diode for preventing abrupt change of voltage direction; the switching of the channel is controlled by the GPIO of the main control, the channel is connected with the myoelectricity acquisition circuit by default, and the channel function can be switched within 3ms when the control instruction is sent out; by the channel switching circuit, a channel for acquiring the myoelectric signal is isolated from the electric stimulation channel, so that noise introduced into the myoelectric acquisition channel by electric stimulation is effectively reduced.
Further, the equipment end is independent equipment capable of providing exercise rehabilitation function and comprises an myoelectricity-electricity stimulation integrated function board and a main control core board;
the myoelectricity-electric stimulation integrated functional board is used for collecting myoelectricity surface signals sEMG and executing function electric stimulation FES; the myoelectricity surface signal acquisition function comprises the steps of myoelectricity signal extraction, myoelectricity signal amplification and bandpass analog signal filtering treatment; the electric stimulation function of the executive function refers to that a designed voltage-controlled constant current source is used for generating bipolar stimulation waves which directly act on diseased muscle groups of a human body for exercise rehabilitation;
the main control core board is used for collecting myoelectricity analog signals conditioned by the myoelectricity-electricity stimulation functional board and controlling waveforms, frequencies and stimulation intensities of electric stimulation waves; the main control core board is used for running an contralateral closed-loop control system algorithm to guide a patient to perform exercise rehabilitation training, and a wifi/Bluetooth module is further arranged on the main control core board, wherein the main control core board is an ESP32C3 chip and is used for communicating with receiving end equipment and sending electromyographic signals, equipment state data and instructions of the receiving end to the receiving end equipment; and the CAN bus communication module is arranged on the main control core board, so that the communication of a plurality of modules CAN be realized.
Further, the contralateral closed loop control system algorithm comprises the following steps:
step 1, bridging healthy limbs of a human body and limbs with dyskinesia, and ensuring that corresponding muscle groups are in one-to-one correspondence;
step 2, contralateral closed-loop exercise rehabilitation begins;
step 3, applying force to the two sides of the upper limb of the patient and executing certain action of the upper limb, keeping the same movement mode, and observing the movement state of the healthy limb;
step 4, converting the motion signals of the healthy limbs into electric stimulation auxiliary motion parameters of the affected limbs by using a contralateral closed-loop motion rehabilitation algorithm, so that the affected limbs of a patient can follow the motion mode of the healthy limbs;
step 5, after the action is recovered, the rehabilitation equipment stops working for 10 seconds, and the patient simultaneously takes a rest for 10 seconds;
and step 6, if the patient does not feel muscle fatigue, returning to the step 3 to start circulation, and if not, ending.
Further, the contralateral closed-loop exercise rehabilitation algorithm in the step 4 specifically comprises the following steps:
I. a device end on the healthy limb collects the myoelectric signal of 20ms on the 4 channels;
II. Calculating the root mean square of the electromyographic signals in a 20ms window on each channel;
III, classifying the limb-strengthening actions through a neural network action classifier;
IV, calculating corresponding electric stimulation parameters as feedforward stimulation parameters by using a biomechanical model after classification;
v, invoking a time-sharing multiplexing electric stimulation algorithm to stimulate for a period of time, disconnecting the optocoupler after stimulation, and waiting for 10ms to smooth the electric stimulation noise;
VI, switching channels of the equipment end on the healthy limb and the equipment end on the affected limb into an myoelectricity acquisition mode, and acquiring myoelectricity signals of 10ms;
VII, calculating the root mean square of the electromyographic signals within 10ms;
VIII, using the root mean square difference in the step I and the step VI as input through a PD controller, and further adjusting the electric stimulation parameters;
IX, repeating the steps between the steps V-VIII before the rehabilitation action is finished.
Further, the time-sharing multiplexing electrical stimulation algorithm specifically comprises:
(1) acquiring a channel sequence number to be stimulated, which is required to stimulate muscle groups simultaneously, according to the pre-motion classification model;
(2) placing the serial numbers into a queue to be stimulated according to the priority;
(3) taking a channel corresponding to the first queue, and performing electric stimulation for a certain time according to the electric stimulation parameters calculated by the model;
(4) ejecting a queue head element, if the queue is empty, carrying out the next step, otherwise, repeating the steps (3) - (4);
(5) after the equipment delays for 10ms, myoelectric signal acquisition is carried out on all channels, and the acquisition window size is 10ms;
(6) repeating steps (2) - (5) before a rehabilitation session is completed.
The invention has the beneficial effects that:
(1) The invention designs a channel multiplexing type electric physiotherapy instrument hardware architecture for real-time feedback, which has the advantages of small myoelectricity biofeedback noise and high real-time performance, and can effectively save the number of required electrodes and arrangement space when the same myoelectricity feedback function is achieved. Meanwhile, the CAN bus interface of the equipment CAN realize the cooperative control between the equipment more simply, and also realize the cooperative control of the equipment and other rehabilitation devices (such as an exoskeleton robot and the like), so that the equipment has extremely strong expansibility and universality;
(2) The myoelectricity acquisition circuit and the electric stimulation circuit are simple and reliable, and have sufficient medical safety consideration; the circuit has high integration level and low cost, and is convenient for clinical popularization in a large amount;
(3) The invention also designs the wearability and usability of the device in a related way, designs the wearable fabric for prompting the electrode arrangement position while ensuring the small and exquisite equipment, and can effectively prevent the fatigue and damage to the muscle caused by misoperation of the electrode arrangement of a patient if the electrode arrangement of the patient is incorrect and the designed fabric is difficult to wear;
(4) The contralateral closed-loop control system comprises a feedforward link and a feedback link, ensures that the system has excellent rapidity and accuracy, can effectively alleviate muscle fatigue of patients and prolongs treatment time.
(5) The closed-loop contralateral control scheme used ensures the need of being able to extract the subjective movement intention of the patient in real time; meanwhile, the action classifier in the feedforward link can detect the limb movement condition of the patient, so that the subjective movement trend of the patient is prevented from being opposed to the passive movement of the electric physiotherapy instrument, and the comfort and the treatment effect are greatly improved.
Drawings
Fig. 1 is a schematic diagram of a conventional open-loop electro-stimulation technique.
Fig. 2 is a schematic diagram of a system hardware architecture according to embodiment 1 of the present invention.
Fig. 3 is a circuit diagram of a channel switching circuit according to embodiment 2 of the present invention.
Fig. 4 is a schematic diagram of the rehabilitation device according to embodiment 3 of the present invention.
Fig. 5 is a control system block diagram of a contralateral closed-loop control system according to embodiment 4 of the present invention.
FIG. 6 is a schematic representation of a modified Harmmerstein feedforward model of example 5 of the present invention.
Fig. 7 is a flow chart of contralateral active exercise rehabilitation according to the present invention.
Fig. 8 is a flow chart of the myoelectric-electric stimulation contralateral closed-loop control algorithm of the invention.
FIG. 9 is a diagram of an upper computer interface.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 2, the invention provides a channel multiplexing myoelectricity-electricity stimulation integrated active rehabilitation device, which consists of a plurality of equipment ends and a receiving end; the device ends are device units capable of independently providing myoelectricity acquisition and electrical stimulation, each device end is provided with four electrode channels, and each channel can be configured into an sEMG acquisition function or an FES function through a channel selection circuit; meanwhile, the equipment ends are all provided with CAN bus interfaces and are used for connecting a plurality of equipment to expand the number of channels and the functional range; the CAN bus technology is used, so that the pain points that the number of channels of the traditional electrical stimulation equipment is fixed, the traditional electrical stimulation equipment is difficult to cooperatively control with other equipment and the expansibility is poor are solved, and the equipment has excellent universal type; each device end is provided with an ESP32 for sending instructions and data to an upper computer by using wifi/Bluetooth; the receiving end is used as an upper computer of the equipment and has the functions of monitoring sEMG signals and electric stimulation parameters of all ports in real time and sending out instructions to adjust the electric stimulation parameters of the equipment end.
The equipment end is independent equipment capable of providing exercise rehabilitation function and comprises a myoelectricity-electricity stimulation integrated function board and a main control core board; for scenes and functional applications requiring different computing power, the cost and performance of the device can be adjusted by replacing the MCU using different computing power.
The myoelectricity-electric stimulation integrated functional board is used for collecting myoelectricity surface signals sEMG and executing function electric stimulation FES; the myoelectricity surface signal acquisition function comprises the steps of myoelectricity signal extraction, myoelectricity signal amplification and bandpass analog signal filtering treatment; the electric stimulation function of the executive function refers to that a designed voltage-controlled constant current source is used for generating bipolar stimulation waves which directly act on diseased muscle groups of a human body for exercise rehabilitation;
the main control core board is used for collecting myoelectricity analog signals conditioned by the myoelectricity-electricity stimulation functional board and controlling waveforms, frequencies and stimulation intensities of electric stimulation waves; the main control core board is used for running an contralateral closed-loop control system algorithm to guide a patient to perform exercise rehabilitation training, and a wifi/Bluetooth module is further arranged on the main control core board, wherein the main control core board is an ESP32C3 chip and is used for communicating with receiving end equipment and sending electromyographic signals, equipment state data and instructions of the receiving end to the receiving end equipment; and the CAN bus communication module is arranged on the main control core board, so that the communication of a plurality of modules CAN be realized.
The receiving end actually refers to an upper computer comprising wifi/bluetooth receiving equipment, which is generally a PC host or a linux single board. The receiving end is used for monitoring the state of each equipment end in real time and receiving electromyographic signal data; the device can also be used as a man-machine interaction interface for sending related instructions for adjusting the electrical stimulation parameters and the like to the equipment end.
Example 2
The channel selection circuit comprises a general electrode, a relay, a channel switching circuit, a myoelectricity acquisition circuit, a functional electric stimulation circuit, a power management circuit and a main control circuit; the relay is provided with two groups of independent switches, and each group of switches has the gating characteristic of single-pole double-throw; the electrode seat is respectively connected with the myoelectricity acquisition circuit and the functional electric stimulation circuit through a single-pole double-throw switch of the relay; and the control end of the relay is connected with the IO pin of the main control through the main control circuit.
The channel switching circuit consists of an electrode seat, an optical relay, a triode and a follow current diode for preventing abrupt change of voltage direction; the switching of the channel is controlled by the GPIO of the main control, the channel is connected with the myoelectricity acquisition circuit by default, and the channel function can be switched within 3ms when the control instruction is sent out; by the channel switching circuit, a channel for acquiring the myoelectric signal is isolated from the electric stimulation channel, so that noise introduced into the myoelectric acquisition channel by electric stimulation is effectively reduced.
Referring to fig. 3, the present embodiment provides a function switching circuit of an electrode channel, which is a core for realizing a channel multiplexing function. The circuit comprises a relay K1, a diode D1, resistors R1, R2 and R3 and a triode Q1. The single-pole double-throw switch of the relay K1 is respectively connected with the myoelectricity acquisition and electric stimulation circuit, and the other end of the switch is connected with the electrode interface. The diode D1 is a freewheeling diode and is connected in parallel with the relay K1 after being connected in series with the resistor R1 to quickly reduce the counter potential generated when the relay is switched, so that the relay can quickly switch channels. The triode and the resistors R2 and R3 together form a control circuit of the relay. The pin of the singlechip is directly connected with the base electrode of the triode Q1 after being connected with the resistor R2 in series, so that the selected channel of the relay can be directly controlled. When the singlechip does not output a high-level control signal under the default condition, the switch of the relay connects the electrode seat with the myoelectricity acquisition circuit, namely CH1 < + > is connected with SEMG1 < + >, and CH1 < - > -is connected with SEMG < - >; after the singlechip outputs a high-level control signal, a switch of the relay is connected with the electric stimulation circuit at the 3ms electrode base, namely CH1 < + > is connected with FES < + >, CH1 < - > -is connected with FES < - >, and channel switching is completed.
Example 3
Referring to fig. 4, the present embodiment provides a schematic diagram of the use of contralateral closed loop exercise rehabilitation apparatus, which includes a wearable fabric 1 with an electrode interface embedded therein, a rehabilitation device 2, and an electrode connection lead 3. When in use, firstly, electrodes are respectively stuck on the diseased muscle group to be recovered and the corresponding healthy muscle group, and the wearable fabric 1 is worn; connecting electrode leads of the corresponding muscle groups to the rehabilitation device; the athletic rehabilitation session can then begin. The wearable fabric 1 inlaid with the electrode interface is actually used for fixing the position of the electrode interface during weaving, and the channel of the electrode is marked on the fabric, so that the quick wearing equipment of a patient is convenient, and the treated site is verified to be free from larger deviation.
Example 4
The block diagram of the contralateral closed loop electrical stimulation control system is shown in fig. 5. The control system aims to enable the muscle force on the affected limb to track the muscle force on the corresponding muscle group of the healthy limb, and further enable the healthy limb to realize synchronous action. Macroscopically, the intensity of the active exercise intention of the patient is extracted through the electromyographic signals of the healthy limbs, and the affected limbs are electrically stimulated according to the intensity. This procedure completes the patient with a closed-loop neural circuit that produces the intended motor-complete motion. Part of the links of the control system will now be described: the myoelectric signal of the healthy limb is extracted and then the multiplying power is adjusted to be K, wherein K is more than 0 and less than or equal to 1, and the link mainly considers that the maximum muscle force which can be generated by patients with different patient degrees is limited, so that the proportion of the tracked muscle force is adjusted to a certain extent in order to improve the training effect.
The feedforward link in the system comprises a neural network action classifier and biomechanical model feedforward. The neural network action classifier is mainly used for identifying the limb-building action of the patient and avoiding the antagonism of the auxiliary movement generated by the subsequent electric stimulation and the active movement intention of the patient. Biomechanics is used for rapidly calculating the required electrical stimulation intensity parameters, so that the affected limb can rapidly track the upper limb exercise. The feedback link of the system mainly comprises a PD controller, and the controller has the function of correcting deviation rapidly when a certain error still exists in the action between healthy and sick limbs after the feedforward link, so that the consistency between the actions of the healthy and sick limbs is improved.
Example 5
In the feedforward channel, the biomechanical model is the improved Harmmerstein model as shown in figure 6, and has the advantages of high accuracy, convenient calculation and the like; and because the magnitude of the myoelectricity is directly and positively correlated with the intensity of the muscle contraction, the relationship between the myoelectricity signal and the intensity of the electrical stimulation parameter can be directly established so as to rapidly configure the electrical stimulation parameter. The Hammerstein model is essentially a biomechanical model for establishing the electric stimulation strength to the muscle generating force, and the improved Hammerstein model flow comprises three links of a hysteresis nonlinear link, a second-order linear link and a time hysteresis link.
The Hammerstein nonlinear link is generally fitted by using a polynomial, and early experiments show that the myoelectric value change corresponding to the increase and decrease of the electric stimulation intensity can generate certain deviation, so that the average value of the myoelectric level corresponding to the increase and decrease of the electric stimulation intensity can be taken as the final electric stimulation intensity-myoelectric magnitude relation, and the expression is shown as a formula (1).
Wherein f 1 (u) and f 2 And (u) represents the change of the myoelectric value of the nonlinear link when the electric stimulation intensity rises and falls, and u is the electric stimulation intensity (generally the electric stimulation voltage, current or pulse width, and u is the electric stimulation current in the invention). Earlier experiments showed that modeling using a polynomial of degree 3 works better when q=3.
The subsequent linear link and time lag link then determine the subsequent movement of the entire joint system. The formula of the linear link is shown as formula (2). Typically n=2, i.e. a second order system is used to model the muscle model.
The time delay link is a link showing that the joint can generate motion after the electric stimulation is performed for a period of time, and a model of the link is shown as a formula (3).
T Dealy ＝e -τs (3)
τ is a delay time constant, and experiments prove that the response time delay of muscles after electric stimulation is generally about 0.01 second, and the parameter identification of a model is to obtain key parameters by using a least square method after the experiments. After the key parameters have been obtained, feed forward is used to compensate the model:
according to the control engineering principle, the compensation of the nonlinear link in the feedforward link is implemented by f -1 (sEMG) Compensation use of the Linear LinkIn theory, the minimum error and the fastest adjustment speed can be achieved. The PD controller originally comprises a first-order differential term, and second-order differential term feedforward leads into system oscillation, so that the calculation of the stimulation current amplitude in the final feedforward link is shown in a formula (4). Wherein L is amp 、U amp The minimum current level that can be used to generate exercise and the safe current limit that can be used to feel pain are obtained in pre-experiments, K p The scaling factor is set manually.
Example 6
Referring to fig. 7, the present example details the overall process of exercise rehabilitation using the device provided by the present invention, which comprises the steps of: bridging healthy limbs of the human body with limbs which are dyskinesia and ensuring corresponding muscle groups to the greatest extent are in one-to-one correspondence.
On the aspect of a sports rehabilitation algorithm, the invention aims to provide a sports rehabilitation algorithm which has strong universality, solves the problems of poor rehabilitation effect of traditional open-loop electric stimulation and difficult use of patients, and also solves the problems of poor feedback performance of common myoelectric boosting electric stimulation and large myoelectric acquisition noise in the market.
The contralateral closed loop control system algorithm comprises the following steps:
step 1, bridging healthy limbs of a human body and limbs with dyskinesia, and ensuring that corresponding muscle groups are in one-to-one correspondence;
step 2, contralateral closed-loop exercise rehabilitation begins;
step 3, applying force to the two sides of the upper limb of the patient and executing certain action of the upper limb, keeping the same movement mode, and observing the movement state of the healthy limb;
step 4, converting the motion signals of the healthy limbs into electric stimulation auxiliary motion parameters of the affected limbs by using a contralateral closed-loop motion rehabilitation algorithm, so that the affected limbs of a patient can follow the motion mode of the healthy limbs;
step 5, after the action is recovered, the rehabilitation equipment stops working for 10 seconds, and the patient simultaneously takes a rest for 10 seconds;
and step 6, if the patient does not feel muscle fatigue, returning to the step 3 to start circulation, and if not, ending.
The bridging in step 1 refers to wearing the integrated electrode fabric on the patient muscle group on the patient's affected limb and the corresponding healthy limb upper muscle group, respectively, and connecting the electrodes to the device of the invention. If the number of channels is insufficient, the number of electrode channels of the device CAN be expanded by using CAN bus channels.
Example 7
Referring to fig. 8, the system of the present embodiment illustrates the contralateral electrical stimulation rehabilitation algorithm flow, which is specifically as follows:
the contralateral closed-loop motion rehabilitation algorithm in the step 4 specifically comprises the following steps:
I. a device end on the healthy limb collects the myoelectric signal of 20ms on the 4 channels; the numerical value with larger deviation is directly deleted;
II. Calculating the root mean square of the electromyographic signals in a 20ms window on each channel;
the root mean square calculation formula is shown in formula (5):
wherein x is i The acquired ith myoelectricity voltage value;
III, classifying the limb-strengthening actions through a neural network action classifier;
the neural network classifier used is presented below:
taking root mean square in II as input of a neural network, outputting the root mean square as independent thermal codes of four actions, and processing at most four classifications by each independent main control according to the characteristics of distributed computation;
the network has two hidden layers, and each hidden layer has 10 neurons;
the activation function of the neuron uses a ReLU function;
IV, calculating corresponding electric stimulation parameters as feedforward stimulation parameters by using a biomechanical model after classification;
v, invoking a time-sharing multiplexing electric stimulation algorithm to stimulate for a period of time, disconnecting the optocoupler after stimulation, and waiting for 10ms to smooth the electric stimulation noise;
VI, switching channels of the equipment end on the healthy limb and the equipment end on the affected limb into an myoelectricity acquisition mode, and acquiring myoelectricity signals of 10ms;
VII, calculating the root mean square of the electromyographic signals within 10ms;
VIII, using the root mean square difference in the step I and the step VI as input through a PD controller, and further adjusting the electric stimulation parameters;
IX, repeating the steps between the steps V-VIII before the rehabilitation action is finished.
The algorithm step V has a period of time ranging from about 50 ms to about 100ms, the electrical stimulation carrier used is between 20 Hz and 50Hz, and the duty cycle is generally not more than 20%.
The time-division multiplexing channel multiplexing myoelectricity acquisition-electric stimulation technology is related to the hardware architecture of the invention, and aims to further inhibit noise and ensure that the phenomenon of 'series electricity' among a plurality of electrode pairs does not occur in electric stimulation.
The time-sharing multiplexing electrical stimulation algorithm specifically comprises the following steps:
(1) acquiring a channel sequence number to be stimulated, which is required to stimulate muscle groups simultaneously, according to the pre-motion classification model;
(2) placing the serial numbers into a queue to be stimulated according to the priority;
(3) taking a channel corresponding to the first queue, and performing electric stimulation for a certain time according to the electric stimulation parameters calculated by the model;
(4) ejecting a queue head element, if the queue is empty, carrying out the next step, otherwise, repeating the steps (3) - (4);
(5) after the equipment delays for 10ms, myoelectric signal acquisition is carried out on all channels, and the acquisition window size is 10ms;
(6) repeating steps (2) - (5) before a rehabilitation session is completed.
The electrical stimulation in step (3) is for a time as described in V above, which depends on the desired electrical stimulation intensity of the patient.
The priority in the step (2) means ranking the contribution amounts of the participating muscles for a specific action in biomechanics, and generally, the muscle group as the main contribution is larger, and the higher-intensity electrical stimulation needs to be preferentially performed.
Example 8
Referring to fig. 9, the present example is a corresponding upper computer interface. The method comprises the following steps: 1 is a communication configuration area, and one of three communication modes of serial ports, bluetooth and TCP/IP can be selected and parameter configuration is carried out; 2 is an electric stimulation parameter configuration area which can be used for directly configuring electric stimulation parameters and transmitting; 3, displaying a coordinate system for four-channel signals; and 4 is a receiving data and information display window, and the received data can be recorded in real time through the part, so that the next operation such as data processing on myoelectric data is facilitated. Through this host computer, can debug and use the system comparatively conveniently.
Claims (7)
1. The channel multiplexing myoelectricity-electric stimulation integrated active rehabilitation device is characterized by comprising a plurality of equipment ends and a receiving end; the device ends are device units capable of independently providing myoelectricity acquisition and electrical stimulation, each device end is provided with four electrode channels, and each channel can be configured into an sEMG acquisition function or an FES function through a channel selection circuit; meanwhile, the equipment ends are all provided with CAN bus interfaces and are used for connecting a plurality of equipment to expand the number of channels and the functional range; each device end is provided with an ESP32 for sending instructions and data to an upper computer by using wifi/Bluetooth; the receiving end is used as an upper computer of the equipment and has the functions of monitoring sEMG signals and electric stimulation parameters of all ports in real time and sending out instructions to adjust the electric stimulation parameters of the equipment end.
2. The apparatus according to claim 1, wherein: the channel selection circuit comprises a general electrode, a relay, a channel switching circuit, a myoelectricity acquisition circuit, a functional electric stimulation circuit, a power management circuit and a main control circuit; the relay is provided with two groups of independent switches, and each group of switches has the gating characteristic of single-pole double-throw; the electrode seat is respectively connected with the myoelectricity acquisition circuit and the functional electric stimulation circuit through a single-pole double-throw switch of the relay; and the control end of the relay is connected with the IO pin of the main control through the main control circuit.
3. The apparatus according to claim 2, wherein: the channel switching circuit consists of an electrode seat, an optical relay, a triode and a follow current diode for preventing abrupt change of voltage direction; the switching of the channel is controlled by the GPIO of the main control, the channel is connected with the myoelectricity acquisition circuit by default, and the channel function can be switched within 3ms when the control instruction is sent out; by the channel switching circuit, a channel for acquiring the myoelectric signal is isolated from the electric stimulation channel, so that noise introduced into the myoelectric acquisition channel by electric stimulation is effectively reduced.
4. The apparatus according to claim 1, wherein: the equipment end is independent equipment capable of providing exercise rehabilitation function and comprises a myoelectricity-electricity stimulation integrated function board and a main control core board;
the myoelectricity-electric stimulation integrated functional board is used for collecting myoelectricity surface signals sEMG and executing function electric stimulation FES; the myoelectricity surface signal acquisition function comprises the steps of myoelectricity signal extraction, myoelectricity signal amplification and bandpass analog signal filtering treatment; the electric stimulation function of the executive function refers to that a designed voltage-controlled constant current source is used for generating bipolar stimulation waves which directly act on diseased muscle groups of a human body for exercise rehabilitation;
the main control core board is used for collecting myoelectricity analog signals conditioned by the myoelectricity-electricity stimulation functional board and controlling waveforms, frequencies and stimulation intensities of electric stimulation waves; the main control core board is used for running an contralateral closed-loop control system algorithm to guide a patient to perform exercise rehabilitation training, and a wifi/Bluetooth module is further arranged on the main control core board, wherein the main control core board is an ESP32C3 chip and is used for communicating with receiving end equipment and sending electromyographic signals, equipment state data and instructions of the receiving end to the receiving end equipment; and the CAN bus communication module is arranged on the main control core board, so that the communication of a plurality of modules CAN be realized.
5. The apparatus according to claim 4, wherein: the contralateral closed loop control system algorithm comprises the following steps:
step 1, bridging healthy limbs of a human body and limbs with dyskinesia, and ensuring that corresponding muscle groups are in one-to-one correspondence;
step 2, contralateral closed-loop exercise rehabilitation begins;
step 3, applying force to the two sides of the upper limb of the patient and executing certain action of the upper limb, keeping the same movement mode, and observing the movement state of the healthy limb;
step 4, converting the motion signals of the healthy limbs into electric stimulation auxiliary motion parameters of the affected limbs by using a contralateral closed-loop motion rehabilitation algorithm, so that the affected limbs of a patient can follow the motion mode of the healthy limbs;
step 5, after the action is recovered, the rehabilitation equipment stops working for 10 seconds, and the patient simultaneously takes a rest for 10 seconds;
and step 6, if the patient does not feel muscle fatigue, returning to the step 3 to start circulation, and if not, ending.
6. The apparatus according to claim 5, wherein: the contralateral closed-loop motion rehabilitation algorithm in the step 4 specifically comprises the following steps:
I. a device end on the healthy limb collects the myoelectric signal of 20ms on the 4 channels;
II. Calculating the root mean square of the electromyographic signals in a 20ms window on each channel;
III, classifying the limb-strengthening actions through a neural network action classifier;
IV, calculating corresponding electric stimulation parameters as feedforward stimulation parameters by using a biomechanical model after classification;
v, invoking a time-sharing multiplexing electric stimulation algorithm to stimulate for a period of time, disconnecting the optocoupler after stimulation, and waiting for 10ms to smooth the electric stimulation noise;
VI, switching channels of the equipment end on the healthy limb and the equipment end on the affected limb into an myoelectricity acquisition mode, and acquiring myoelectricity signals of 10ms;
VII, calculating the root mean square of the electromyographic signals within 10ms;
VIII, using the root mean square difference in the step I and the step VI as input through a PD controller, and further adjusting the electric stimulation parameters;
IX, repeating the steps between the steps V-VIII before the rehabilitation action is finished.
7. The apparatus according to claim 6, wherein: the time-sharing multiplexing electrical stimulation algorithm specifically comprises the following steps:
(1) acquiring a channel sequence number to be stimulated, which is required to stimulate muscle groups simultaneously, according to the pre-motion classification model;
(2) placing the serial numbers into a queue to be stimulated according to the priority;
(3) taking a channel corresponding to the first queue, and performing electric stimulation for a certain time according to the electric stimulation parameters calculated by the model;
(4) ejecting a queue head element, if the queue is empty, carrying out the next step, otherwise, repeating the steps (3) - (4);
(5) after the equipment delays for 10ms, myoelectric signal acquisition is carried out on all channels, and the acquisition window size is 10ms;
(6) repeating steps (2) - (5) before a rehabilitation session is completed.
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