WO2021047100A1 - 一种自适应电刺激训练系统 - Google Patents
一种自适应电刺激训练系统 Download PDFInfo
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- WO2021047100A1 WO2021047100A1 PCT/CN2019/126883 CN2019126883W WO2021047100A1 WO 2021047100 A1 WO2021047100 A1 WO 2021047100A1 CN 2019126883 W CN2019126883 W CN 2019126883W WO 2021047100 A1 WO2021047100 A1 WO 2021047100A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36014—External stimulators, e.g. with patch electrodes
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
Definitions
- the invention relates to the technical field of medical rehabilitation, in particular to an adaptive electrical stimulation training system.
- the multi-channel electrical stimulation therapy instrument performs electrical stimulation training on multiple muscles of stroke patients. On the one hand, it can help the multiple muscles of the patient to exercise in coordination, and give the patient the balance of weight support transfer and the stability of the load stage during walking. On the other hand, due to the active participation of patients, their self-confidence can be greatly enhanced, which is more conducive to the functional recovery of the affected limb.
- Kralj et al. improved the single-channel electrical stimulator for the first time and designed a four-channel functional electrical stimulator.
- the closed-loop control method can not only more accurately control the various output parameters of the electric stimulator, but also can adjust the patient's gait parameters in real time according to the preset trajectory, so that the patient's gait can be adjusted in real time.
- the attitude is more in line with the needs of healthy people.
- Mourselas et al. specially designed a closed-loop control system for electric stimulators for patients with foot drop. It uses embedded closed-loop control principles to measure the angle of the ankle joint during walking in real time, and combines real-time measurement data with standard data. The feedback information obtained by the comparison adjusts the intensity of the electric stimulator, and realizes the electric stimulation adjustment of PID control.
- Nahrstaedt et al. applied a preset fixed stimulus intensity to the system during a gait cycle; before the start of the next gait cycle, the error of the previous cycle was analyzed; according to the error signal, The stimulus parameters are modified to realize the tracking of the preset joint angle during the swing phase.
- the functional electrical stimulators mentioned above realize the adjustment of electrical stimulation parameters and the adjustment of joint angles through different control methods, but they do not combine the electrical stimulation phase with intensity adjustment, and because of patients with different degrees of hemiplegia There are different walking speeds and gait cycles, so the existing electrical stimulation control methods do not have an adaptive adjustment function, nor do they have wide applicability in clinical applications.
- the self-adaptive electrical stimulation training system proposed by the present invention can automatically adjust the stimulation output of the multi-channel electrical stimulator according to the patient's own walking state, and help the patient to perform gait rehabilitation training.
- An adaptive electrical stimulation training system including:
- the information acquisition module is used to acquire the kinematic signals and dynamic signals of the patient's lower limb joints during the gait walking training process of the patient;
- the analog-to-digital conversion module is used to perform analog-to-digital conversion between the kinematics signal and the dynamics signal acquired by the information acquisition module, synchronize the kinematics signal and the dynamics signal, and combine the synchronized kinematics signal with the dynamics signal in real time.
- the kinetic signal is transmitted to the electrical stimulation control module;
- Electrical stimulation control module including iterative learning controller and linear controller
- the iterative learning controller is used to obtain the difference between the kinematics signal transmitted by the analog-to-digital conversion module and the target kinematics signal, fuse the dynamics signal transmitted by the analog-to-digital conversion module, and use iterative learning rules to establish the The iterative learning model between the difference and the output intensity parameter output by the iterative learning controller, when the patient’s motion state changes, the changed difference is obtained, and the difference is obtained according to the iterative learning model according to the change. Value adjusting the output intensity parameter output by the iterative learning controller;
- the linear controller is used to fuse the kinematics signal and dynamics signal transmitted by the analog-to-digital conversion module to establish the time when the kinematics signal and dynamics signal transmitted by the analog-to-digital conversion module and the output of the linear controller
- a linear model between phase parameters; when the patient’s motion state changes, the change value of the kinematic signal and the dynamic signal transmitted by the analog-to-digital conversion module is obtained, and the linear model is adjusted according to the change value according to the linear model.
- the output time phase parameters of the controller is used to fuse the kinematics signal and dynamics signal transmitted by the analog-to-digital conversion module to establish the time when the kinematics signal and dynamics signal transmitted by the analog-to-digital conversion module and the output of the linear controller
- the electrical stimulation control module is further configured to control the multi-channel electrical stimulator according to the output intensity parameter of the iterative learning controller and the output phase parameter of the linear controller;
- the multi-channel electrical stimulator is used to control the start and end time of each channel and generate electrical stimulation signals of different intensities according to the output intensity parameters and output phase parameters sent by the electrical stimulation control module.
- the analog-to-digital conversion module is specifically configured to perform analog-to-digital conversion between the kinematics signal and the dynamic signal acquired by the information acquisition module, and unify the kinematics acquired by the information acquisition module through a down-sampling or over-sampling method.
- the sampling rate of the signal and dynamics signal, and according to the set special moment, from that moment, the different kinematics signals and dynamics signals after the unified sampling rate are aligned, so as to obtain synchronized kinematics and dynamics signals,
- the synchronized kinematics signal and kinetic signal are transmitted to the electrical stimulation control module in real time.
- analog-to-digital conversion module transmits synchronized kinematics signals and dynamics signals to the electrical stimulation control module in real time, specifically;
- the synchronized kinematics signal and dynamics signal are transmitted to the electrical stimulation control module in real time through the serial communication function of the USB.
- the information acquisition module includes a motion signal acquisition unit for acquiring kinematic signals of the patient's lower extremity joints and a pressure signal acquisition unit for acquiring dynamic signals of the patient's lower extremity joints,
- the motion signal acquisition unit is specifically used to acquire the angle signal and motion displacement signal of each joint of the lower limbs of the patient during the motion process; preferably, the motion signal acquisition unit is a motion capture system and is composed of a high-speed infrared data acquisition camera,
- the pressure signal collection unit is specifically used to collect the three-dimensional reaction force with the ground generated by the patient during walking.
- the pressure signal collection unit includes a pressure sensing device and a three-dimensional pressure sensor placed behind the heel of the patient.
- the iterative learning controller is specifically configured to obtain the angle error of the angle signal j at the k-th gait time relative to the target angle signal according to the angle signal in the kinematic signal transmitted by the analog-to-digital conversion module, Use iterative learning rules to establish an iterative learning model between the angle error and the output intensity parameter of the k-th gait time j output by the iterative learning controller, and the k-th gait time j is transmitted by the analog-to-digital conversion module The kinetic signal is obtained;
- the change of the patient’s motion state causes the angle error to change.
- the iterative learning controller obtains the changed angle error, and adjusts the output of the iterative learning controller according to the changed angle error according to the iterative learning model. Output intensity parameters.
- the linear controller is specifically configured to obtain different walking speeds according to the kinematics signals transmitted by the analog-to-digital conversion module, and obtain corresponding walking speeds according to the dynamic signals transmitted by the analog-to-digital conversion module At each stage of the gait cycle, using the prior linear model established in the prior experiment in which the delay time and duration change linearly with the pace, the delay time and duration in the k-th step gait cycle are obtained.
- the electrical stimulation control module is further configured to control the multi-channel electrical stimulator according to the output intensity parameter of the iterative learning controller and the output phase parameter of the linear controller, specifically:
- the delay time and duration in the k-th gait period are normalized.
- the normalization process is: when the time reaches the delay time calculated by the linear controller, the digital signal 1 is output, when the time When the duration calculated by the linear controller is reached, the digital signal 0 is output, and the high and low level output of the linear controller output time phase parameters are controlled according to the normalized digital signal, and the output of the iterative learning controller is The intensity parameter and the output phase parameter output by the linear controller are transmitted to the multi-channel electrical stimulator.
- the multi-channel electrical stimulator is specifically used to output electrical stimulation electrical pulse voltages with adjustable waveform frequency and different pulse widths and amplitudes according to the output intensity parameters sent by the electrical stimulation control module Or electric current is transmitted to the muscle through the electrode sheet, thereby stimulating the muscle to produce different degrees of contraction; according to the output phase parameters sent by the electrical stimulation control module, the switch of the multi-channel electrical stimulator is driven to control the output of electrical stimulation electricity from each channel. The start and end time of the pulse.
- the multi-channel electrical stimulator outputs electrical stimulation electrical pulse voltages or currents with different pulse amplitudes according to the output intensity parameters sent by the electrical stimulation control module, specifically:
- the multi-channel electrical stimulator generates electrical stimulation electrical pulses with different pulse amplitudes according to the output intensity parameters sent by the electrical stimulation control module.
- the voltage or current is proportional to the linear process: firstly according to the patient's maximum resistance to electrical stimulation in a resting state Set a calibrated output intensity parameter value, the output corresponding to the calibrated output intensity parameter value is the maximum electrical stimulation pulse amplitude, and generate the corresponding pulse amplitude according to the proportional relationship between the actual output intensity parameter and the calibrated output intensity parameter value With different values of electrical stimulation electrical pulses, this conversion process is a proportional linear process.
- the adaptive electrical stimulation training system provided by the embodiments of the present invention can bring about the following beneficial effects:
- the present invention studies the law of kinematics and dynamics signals changing with speed at different exercise states, and at the same time through kinematics and dynamics signals.
- the output phase and intensity of the multi-channel electrical stimulator can be adjusted adaptively, which is conducive to enabling the patient to recover the physiological functions of the gait more naturally.
- the multi-channel electric stimulation output realized by the electric stimulation drive module of the present invention is more beneficial to the recovery of the physiological function of each muscle group, and can effectively improve the pathological condition of the patient at each stage of the gait. It is especially suitable for the rehabilitation of stroke patients' walk-aid functions. For example, it can provide shock absorption when the patient's heel hits the ground and help the knee joint lift when the toe is off the ground; it can increase the distance of the lower limbs to the ground during the gait swing, thereby increasing the patient The stability of the gait; it can improve the symmetry of the kinematic parameters and the completion of the extension and flexion of the joints of the lower limbs, thereby more comprehensively helping the patient to recover the gait function.
- Figure 1 is a schematic structural diagram of an adaptive electrical stimulation training system provided by an embodiment of the present invention
- Figure 2 is a schematic diagram of the adaptive electrical stimulation process of the adaptive electrical stimulation training system
- Figure 3 is a schematic diagram of an iterative learning controller and a linear controller
- Figure 4 is a schematic diagram of the relationship between the output parameters of the electrical stimulation control module and the output electrical pulses of the multi-channel electrical stimulator.
- the embodiment of the present invention provides an adaptive electrical stimulation training system, as shown in FIG. 1, including an information acquisition module 101, an analog-to-digital conversion module 102, an electrical stimulation control module 103, a multi-channel electrical stimulator 104, and an electrical stimulation control module 103 Including iterative learning controller 1031 and linear controller 1032;
- the adaptive electrical stimulation process of the adaptive electrical stimulation training system shown in Figure 1 is as follows:
- the information acquisition module 101 acquires the kinematic signals and dynamic signals of the lower limb joints of the patient during the gait walking training process of the patient;
- the information acquisition module 101 includes a motion signal acquisition unit 1011 and a pressure signal acquisition unit 1012.
- the motion signal acquisition unit 1011 is specifically a motion capture system, which is composed of a high-speed infrared data acquisition camera.
- the motion signal acquisition unit 1011 may also be an inertial sensor and other equipment.
- the kinematic signals of the lower extremity joints of the patient collected by the motion signal acquisition unit 1011 are the angle signals and motion displacement signals of the lower extremity joints of the patient during the movement process.
- the angle signals include the ankle joint, knee joint angle and corresponding angular velocity, Angular acceleration and other data
- motion displacement signals include data such as step length and gait symmetry.
- the pressure signal acquisition unit 1012 specifically includes a pressure sensing device and a three-dimensional pressure sensor placed behind the heel of the patient.
- the pressure sensing device placed behind the heel can be a plantar pressure switch, and the three-dimensional pressure sensor can be a three-dimensional force platform or a three-dimensional pressure sensor.
- the dynamic signals of the patient's lower limb joints collected by the pressure signal collection unit 1012 are the three-dimensional reaction force with the ground generated by the patient during walking.
- the judgment of a specific moment in the gait cycle can be judged by the pressure change of the pressure sensing device placed behind the heel. For example, when the heel changes from the ground-off state to the ground state, the pressure-sensing device will gradually change from a pressure value of 0 Increase; the three-dimensional pressure sensor can obtain the three-dimensional reaction force of the patient with the ground during the walking process through the characteristics of the change of the force in the three-dimensional direction of the gait during the walking process.
- the analog-to-digital conversion module 102 performs analog-to-digital conversion between the kinematic signal and the dynamic signal acquired by the information acquisition module 101, synchronizes the kinematic signal and the dynamic signal, and transmits the synchronized kinematic signal and dynamic signal to Electrical stimulation control module 103;
- the analog-to-digital conversion module 102 unifies the sampling rates of the kinematic and dynamic signals acquired by the information acquisition module 101 through down-sampling or over-sampling methods, and according to a particular moment, For example, use a complete gait cycle as the benchmark for analysis, and set the starting time of a complete gait cycle as the heel-to-ground time. From this time on, the different kinematics and dynamics signals after the unified sampling rate are aligned, In this way, synchronized kinematics and dynamics signals are obtained, and the synchronized kinematics and dynamics signals are transmitted to the electrical stimulation control module 103 in real time.
- the sampling rate of the high-speed infrared data acquisition camera is 100Hz
- the sampling rate of the plantar pressure switch is 100Hz
- the sampling rate of the three-dimensional pressure sensor is 1000Hz, so the kinematics signal and power can be reduced by downsampling.
- the sampling rate of the learning signal is uniform.
- the kinematic signal and the dynamic signal are transmitted to the electrical stimulation control module 103 through the serial communication function of the USB, so that the synchronized kinematic signal and the dynamic signal can be transmitted in real time.
- the electrical stimulation control module 103 includes an iterative learning controller 1031 and a linear controller 1032.
- the iterative learning controller 1031 obtains the difference between the kinematic signal transmitted by the analog-to-digital conversion module 102 and the target kinematic signal, fuses the dynamic signal transmitted by the analog-to-digital conversion module 102, and establishes the difference and The iterative learning model between the output intensity parameters U out1 output by the iterative learning controller 1031, when the patient's motion state changes, obtain the changed difference, and adjust the iterative learning control according to the changed difference according to the iterative learning model The output intensity parameter U out1 output by the device 1031.
- the iterative learning rule is shown in formula 1:
- the kinematic signals are specifically the angle signals and movement displacement signals of the joints of the lower extremities of the patient during the movement process, and in this embodiment, the angle signals are taken as the maximum value of the patient's foot swing during the period of the affected foot.
- the angle of ankle dorsiflexion, the swing phase refers to the phase where the entire foot is off the ground.
- the iterative learning controller 1031 has obtained the target angle signal in advance.
- the target angle signal is the normalized result of the angle data obtained by the normal experiment.
- the analog-to-digital conversion module 102 inputs the kinematic signal to the iterative learning controller 1031, according to From the angle signal in the kinematic signal transmitted by the analog-to-digital conversion module 102, the iterative learning controller 1031 obtains the angle error of the angle signal relative to the target angle signal, and the angle error is shown in formula 2:
- ⁇ k (j) is the angle signal of the k-th gait time j transmitted by the analog-to-digital conversion module 102
- ⁇ s (j) is the target angle signal.
- the target angle signal is 5°
- e k ( j) is the angular error between the angle signal of the k-th gait time j and the target angle signal
- the k-th gait time j is obtained from the dynamic signal transmitted by the analog-to-digital conversion module 102, for example, through the analog-to-digital conversion module
- the kinetic signal transmitted by 102 calculates the phase time of the gait cycle, such as the heel-off time.
- the pressure signal acquisition unit 1012 is used to collect the three-dimensional reaction force with the ground generated by the patient during walking. The judgment of a specific moment in the gait cycle can be judged by the pressure change of the pressure sensing device placed behind the heel.
- L(j) is set to 40 in this specific embodiment.
- H k (j) represents the output intensity parameter U out1 at the k-th gait time j
- H k-1 (j) represents the output intensity parameter U out1 at the k-1 gait time j
- T is the output parameter H( j)
- the constraint function T ensures that the output parameter H(j) will never exceed the maximum electric stimulation intensity that the patient can withstand to ensure absolute safety; where u is the minimum output electric stimulation intensity, because The output electrical stimulation intensity cannot be negative, so when the output intensity parameter U out1 is calculated to be negative, the function T is constrained to be 0 to avoid output errors.
- the angle signal When the angle signal is smaller than the target angle signal, obtain the changed angle error e k (j), and use the iterative learning model to obtain the output intensity parameter U out1 , and the output intensity parameter U out1 obtained will be greater than the output intensity parameter U out1 output last time , So as to increase the intensity of electrical stimulation to ensure that the actual kinematics is closer to the standard situation; when the angle signal is greater than the target angle signal, the changed angle error e k (j) is obtained, and the output intensity parameter U out1 is obtained using the iterative learning model, and The output intensity parameter U out1 obtained will be smaller than the output intensity parameter U out1 output last time, thereby reducing the electric stimulation intensity to ensure the normal output of the actual kinematics.
- the linear controller 1032 While performing step 203, the linear controller 1032 fuses the kinematics and dynamics signals input by the analog-to-digital conversion module 102 to establish the relationship between the kinematics and dynamics signals input by the analog-to-digital conversion module 102 and the linear controller 1032.
- the electromyographic signals of each muscle group of the patient's lower limbs in multiple gait cycles at different walking speeds were collected through surface electrodes attached to the corresponding muscle groups.
- the EMG signals of the quadriceps femoris, hamstrings, gastrocnemius and tibialis anterior muscles of the lower limbs are collected.
- the time point of the EMG signal change was recorded by the collected EMG signal, and the time difference from the heel landing to the beginning of the muscle contraction was calculated according to the heel landing time in the kinetic signal obtained by the plantar pressure switch as the reference point.
- the time difference between the start of the contraction and the stop of the contraction, and the two time differences are unified in a complete gait cycle.
- the time difference can also be calculated by taking the time when the heel is off the ground as a reference point.
- the combination of EMG signal collection and plantar pressure switch is used to screen whether this reference point is at the moment of heel landing or the moment of heel off the ground.
- the time from the reference point to the start of muscle contraction is recorded as the delay time y 1
- the time from the start of muscle contraction to the start of muscle relaxation is recorded as the duration y 2
- the delay time y 1 and the duration y 2 are the same as
- the pace is linear, so the least squares fitting method is used to fit the linear change relationship of y 1 and y 2 with the pace into a specific equation in a complete gait cycle, see formula 6.
- Equation 6 is the prior linear model.
- the linear controller 1032 obtains different walking speeds according to the kinematic signals transmitted by the analog-to-digital conversion module 102, and obtains the corresponding gait cycle times at different walking speeds according to the dynamic signals transmitted by the analog-to-digital conversion module 102, according to the obtained Different walking speeds and different walking speeds corresponding to each stage of the gait cycle, obtain the delay time y 1 and the duration y 2 in the gait cycle, so as to achieve the combination and transformation of the dynamic signal and the kinematic signal These are the two time variable parameters of the delay time y 1 and the duration y 2.
- the pace of each person is different, so the delay time y 1 and the duration y 2 can be adaptively adjusted according to the difference in pace.
- y 1 and y 2 in the k-th gait period are calculated by calculating the pace.
- the method is as follows: As mentioned above, the longitudinal walking distance d(k-1) in the gait cycle is acquired by the motion signal acquisition unit 1011, and d(k-1) is included in the kinematics signal transmitted by the analog-to-digital conversion module 102 In the movement displacement signal, the k-1 step speed v(k-1) is obtained by formula 7, and then the k-th step speed uv(k) is obtained by averaging the previous N steps. See formula 8, where N Is the set average number of steps.
- the electrical stimulation control module 103 also controls the multi-channel electrical stimulator 104 according to the output intensity parameter U out1 of the iterative learning controller 1031 and the output phase parameter of the linear controller 1032, which includes delaying the k-th gait period.
- the duration y 1 and the duration y 2 are normalized. The method is that when the time reaches the delay duration y 1 calculated by the linear controller 1032, the electrical stimulation control module 103 outputs the digital signal 1, and when it reaches the duration y 2 , the digital signal is output.
- the signal 0 controls the linear controller 1032 to output the high and low level output of the phase parameter U out2 according to the normalized digital signal.
- the electrical stimulation control module 103 sends the output intensity parameter U out1 and the output phase parameter U out2 to the multi-channel electrical stimulator 104.
- the multi-channel electrical stimulator 104 controls the start and end time of each channel and generates electrical stimulation signals of different intensities according to the output intensity parameter U out1 and the output phase parameter U out2 sent by the electrical stimulation control module 103 to assist the patient in completing the rehabilitation exercise .
- the multi-channel electrical stimulator 104 controls the start and end time of each channel to output electrical stimulation electrical pulses according to the output phase parameter U out2 sent by the electrical stimulation control module 103.
- the multi-channel electrical stimulator 104 uses the output phase parameter U out2 as one of the input signals. When U out2 is a low-level output, the multi-channel electrical stimulator 104 has no electrical stimulation pulse output; when U out2 is a high-level output, When the output is normal, the multi-channel electrical stimulator 104 has electrical stimulation electrical pulse output at this time, and the parameters of the output electrical stimulation electrical pulse are specifically determined by the output intensity parameter U out1 .
- the multi-channel electrical stimulator 104 starts electrical stimulation.
- the output phase parameter U out2 changes from presence to absence, that is, After the time length reaches the duration y 2 , the multi-channel electrical stimulator 104 ends the electrical stimulation.
- the multi-channel electrical stimulator 104 controls the output intensity of electrical stimulation pulses according to the output intensity parameter U out1 sent by the electrical stimulation control module 103.
- the multi-channel electric stimulator 104 uses the output intensity parameter U out1 as one of the input signals, and generates electric stimulation electric pulse voltages or currents of different intensities according to the output intensity parameter U out1 .
- the output intensity parameter U out1 can determine the pulse of the output electric stimulation electric pulse.
- the amplitude or pulse width, or adjust the pulse amplitude and pulse width at the same time, the waveform and frequency of the electrical stimulation pulse can be set in advance.
- the output current of each channel is adjustable from 0 to 120 mA
- the wave width is adjustable from 100 to 420 ⁇ S
- the frequency is adjustable from 1 to 120 Hz
- each channel of the multi-channel electrical stimulator 104 is output separately, mutually Does not affect.
- the waveform, frequency and pulse width of the electrical stimulation electrical pulse have been set in advance, and electrical stimulation electrical pulses with different pulse amplitudes are generated according to the output intensity parameter U out1.
- generating electrical stimulation electrical pulses with different pulse amplitudes according to the output intensity parameter U out1 is a proportional linear process: first, a calibrated output intensity parameter value is set according to the patient's maximum resistance to electrical stimulation in a resting state, this calibrated output intensity parameter The output corresponding to the value is the maximum electrical stimulation electrical pulse amplitude. According to the proportional relationship between the actual output intensity parameter U out1 and the calibrated output intensity parameter value, the corresponding electrical stimulation electrical pulses with different pulse amplitudes are generated. This conversion process is proportional to linear process.
- the generated electrical stimulation electrical pulse voltage or current is transmitted to the muscle through the electrode sheet, thereby stimulating the muscle to produce different degrees of contraction.
- the embodiment of the present invention can adaptively adjust the time and intensity of electrical stimulation according to the actual contraction and force of the patient's muscles by analyzing the characteristics of the speed change of each signal when the patient is exercising on the treadmill. , Has a good bionic function, can improve the quality of patients' lower limb movement, and help them recover their daily gait function.
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Abstract
Description
Claims (10)
- 一种自适应电刺激训练系统,其特征在于,包括:信息获取模块,用于在患者进行步态行走训练过程中,获取患者下肢关节的运动学信号和动力学信号;模数转换模块,用于将所述信息获取模块获取的运动学信号与动力学信号进行模数转换,同步所述运动学信号和所述动力学信号,实时将同步的所述运动学信号和所述动力学信号传输至电刺激控制模块;电刺激控制模块,包括迭代学习控制器和线性控制器;所述迭代学习控制器,用于获取所述模数转换模块传输的运动学信号相对于目标运动学信号的差值,融合所述模数转换模块传输的动力学信号,利用迭代学习规则建立所述差值与所述迭代学习控制器输出的输出强度参数之间的迭代学习模型,当患者的运动状态改变时,获取变化的所述差值,按照所述迭代学习模型根据变化的所述差值调整所述迭代学习控制器输出的输出强度参数;所述线性控制器,用于融合所述模数转换模块传输的运动学信号和动力学信号,建立所述模数转换模块传输的运动学信号和动力学信号与所述线性控制器的输出时相参数之间的线性模型;当患者的运动状态改变时,获取所述模数转换模块传输的运动学信号和动力学信号的变化值,按照所述线性模型根据所述变化值调整所述线性控制器的输出时相参数;所述电刺激控制模块,还用于按照所述迭代学习控制器的输出强度参数和所述线性控制器的输出时相参数控制多通道电刺激器;所述多通道电刺激器,用于按照所述电刺激控制模块发送的输出强度参数和输出时相参数控制各通道的开始、结束时间和产生不同强度的电刺激信号。
- 根据权利要求1所述的自适应电刺激训练系统,其特征在于,所述模数转换模块,具体用于将所述信息获取模块获取的运动学信号与动 力学信号进行模数转换,经过降采样或过采样方法统一所述信息获取模块获取的运动学信号和动力学信号的采样率,并且根据设定的特殊时刻,从该时刻开始,将采样率统一后的不同运动学信号和动力学信号对齐,从而得到同步的运动学信号和动力学信号,实时将同步的运动学信号和动力学信号传输至所述电刺激控制模块。
- 根据权利要求1或2所述的自适应电刺激训练系统,其特征在于,所述模数转换模块实时将同步的运动学信号和动力学信号传输至所述电刺激控制模块,具体为:通过USB的串口通信功能实时将同步的运动学信号与动力学信号传输至所述电刺激控制模块。
- 根据权利要求3所述的自适应电刺激训练系统,其特征在于,所述信息获取模块,包括用于采集患者下肢关节的运动学信号的运动信号采集单元和用于采集患者下肢关节的动力学信号的压力信号采集单元;所述运动信号采集单元具体用于采集患者下肢各关节在运动过程中的角度信号和运动位移信号;所述压力信号采集单元具体用于采集患者在行走过程中产生的与地面的三维反作用力。
- 根据权利要求4所述的自适应电刺激训练系统,其特征在于,所述迭代学习控制器,具体用于,按照所述模数转换模块传输的运动学信号中的角度信号,获取第k步步态时刻j角度信号相对于目标角度信号的角度误差,利用迭代学习规则建立所述角度误差与所述迭代学习控制器输出的第k步步态时刻j输出强度参数之间的迭代学习模型,第k步步态时刻j由所述模数转换模块传输的动力学信号获得;患者的运动状态改变,引起所述角度误差发生变化,所述迭代学习控制器获取变化的所述角度误差,按照所述迭代学习模型根据变化的所述角度误差调整所述迭代学习控制器输出的输出强度参数。
- 根据权利要求5所述的自适应电刺激训练系统,其特征在于,所述线性控制器,具体用于,根据所述模数转换模块传输的运动学信号获取不同的行走速度,根据所述模数转换模块传输的动力学信号获取不同行走速度下对应的步态周期各个阶段时刻,利用在先验实验中建立的延时时长、持续时长随步速线性变化的先验线性模型,获取第k步步态周期内的延时时长和持续时长。
- 根据权利要求6所述的自适应电刺激训练系统,其特征在于,所述电刺激控制模块,还用于按照所述迭代学习控制器的输出强度参数和线性控制器的输出时相参数控制多通道电刺激器,具体为:将第k步步态周期内的延时时长和持续时长归一化,所述归一化的过程为:当时间达到所述线性控制器计算的延时时长时,输出数字信号1,当时间达到所述线性控制器计算的持续时长时输出数字信号0,按照归一化后的数字信号控制所述线性控制器输出时相参数的高低电平输出,将所述迭代学习控制器输出的输出强度参数和所述线性控制器输出的输出时相参数传输至所述多通道电刺激器。
- 根据权利要求7所述的自适应电刺激训练系统,其特征在于,所述多通道电刺激器,具体用于,根据所述电刺激控制模块发送的输出强度参数,输出相对应的波形频率可调的、不同脉冲宽度和幅值的电刺激电脉冲电压或者电流,经过电极片传输至肌肉,从而刺激肌肉产生不同程度的收缩;按照所述电刺激控制模块发送的输出时相参数驱动所述多通道电刺激器的开关 以控制各通道输出电刺激电脉冲的开始、结束时间。
- 根据权利要求8所述的自适应电刺激训练系统,其特征在于,所述多通道电刺激器根据所述电刺激控制模块发送的输出强度参数,输出相不同脉冲幅值的电刺激电脉冲电压或者电流,具体为:所述多通道电刺激器根据所述电刺激控制模块发送的输出强度参数产生脉冲幅值不同的电刺激电脉冲电压或者电流为正比例线性过程:首先依据患者静息状态下的最大承受电刺激强度设置一个标定输出强度参数值,所述标定输出强度参数值对应的输出为最大电刺激电脉冲幅值,按照实际输出强度参数与所述标定输出强度参数值的比例关系,产生相对应的脉冲幅值不同的电刺激电脉冲,此转化过程为正比例线性过程。
- 根据权利要求9所述的自适应电刺激训练系统,其特征在于,所述运动信号采集单元为运动捕捉系统,由高速红外数据采集摄像头构成,所述压力信号采集单元包括放置于患者足跟后方的压力传感装置与三维压力传感器。
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