WO2021066670A1 - Procédé d'identification de phases de mouvement complexe sur la base du traitement d'un signal emg - Google Patents

Procédé d'identification de phases de mouvement complexe sur la base du traitement d'un signal emg Download PDF

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Publication number
WO2021066670A1
WO2021066670A1 PCT/RU2019/000698 RU2019000698W WO2021066670A1 WO 2021066670 A1 WO2021066670 A1 WO 2021066670A1 RU 2019000698 W RU2019000698 W RU 2019000698W WO 2021066670 A1 WO2021066670 A1 WO 2021066670A1
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WO
WIPO (PCT)
Prior art keywords
movement
phase
user
exoskeleton
type
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Application number
PCT/RU2019/000698
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English (en)
Russian (ru)
Inventor
Анатолий Сергеевич БОБЕ
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Общество С Ограниченной Ответственностью "Нейроассистивные Технологии"
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Priority to PCT/RU2019/000698 priority Critical patent/WO2021066670A1/fr
Publication of WO2021066670A1 publication Critical patent/WO2021066670A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

Definitions

  • the invention relates to medicine, namely to methods for controlling the exoskeleton of the upper or lower extremities based on processing EMG signals during muscle contraction, during rehabilitation and restoration of motor functions of a user with impaired musculoskeletal functions.
  • the known method of bionic control of a technical exoskeleton disclosed in RU 2627818 C1, publ. 11.08.2017.
  • the method includes generating a control action by registering an electrophysiological signal from a contracting muscle, processing it, sending a signal to a control unit and then to an actuator.
  • an electrophysiological signal the electrical impedance from the antagonist muscles is recorded during the natural movement of these muscles; to register the impedance, an alternating electric current is passed through the muscles, the current value of the degree of limb flexion is calculated, and the obtained value is used as a control signal.
  • the disadvantage of the known technical solution is the impossibility of recognizing complex movements consisting of several simple movements.
  • a method for controlling an exoskeleton includes preliminary calibration of the claimed device when registering EMG signals to determine and save a set of basic movements, supplying the control mechanisms of the device for the user to perform the necessary movement after registering the current movement based on the processing of the current EMG signal and identifying the current motion with the stored base motion.
  • the object of the claimed invention is to develop a method for controlling the exoskeleton of the upper or lower extremities, which makes it possible to recognize a complex movement (human step), consisting of several phases (simple movement - pushing off the leg).
  • the technical result of the invention is to improve the efficiency of recognition of complex motion.
  • the method for controlling the exoskeleton of the upper or lower extremities to perform a training program, including a set of movements necessary for the user to perform includes the following steps: a) Calibration of the exoskeleton of the upper or lower extremities to obtain a set of basic movements performed by the user for each type of movement according to the training program, while each type of basic movement performed by the user is characterized by at least one phase of movement, and each phase of movement is determined upon registration and processing the EMG signal based on the following values of the amplitude-temporal characteristics: the average duration of the phase, the set of active and inactive muscles, the average level of tension of active muscles during the movement phase;
  • At least one basic phase of movement performed by the user for each type of movement, when calibrating the exoskeleton of the upper or lower extremities, is determined by processing the EMG signal on the basis of 5-7 repetitions of each type of movement of the exoskeleton of the upper or lower extremities performed by the user.
  • At least two different types of movements performed by the user having at least one identical phase of movement, additionally the current phase and each basic phase of movements performed by the user, are additionally determined during registration and processing of the EMG signal based on the value of the amplitude time characteristic - change in the level of tension of active muscles during the movement phase.
  • each basic phase of these types of movements performed by the user is determined during registration and processing of an EMG signal on the basis of 5-7 repetitions performed by the user at least two different types of movement, having at least one identical phase of movement.
  • the exoskeleton performs the corresponding current basic phase of movement for the user.
  • the calculated and current amplitude-time characteristics are displayed on the screen for the user.
  • FIG. 1 Scheme of exoskeleton operation control.
  • FIG. 1 Amplitude-time characteristic of the performed complex movement (walking), divided into phases of movement, based on the processing of the EMG signal according to the claimed invention for the lower extremities
  • FIG. 2 Amplitude-time characteristic of the performed complex movement (rearrangement of an object to a new place), divided into phases of movement, based on the processing of the EMG signal for the upper limbs
  • the method of controlling the exoskeleton of the upper or lower extremities to perform a training program that includes a set of movements required to perform the movements performed by the user is carried out as follows.
  • the exoskeleton is fixed on the corresponding (upper or lower) limbs of the user, the corresponding limbs of the user are fixed with electrodes that allow recording EMG signals during muscle contraction.
  • EMG signals are recorded, for example, by the contraction of the anterior tibial and soleus muscles
  • EMG signals are recorded, for example, by the contraction of the radial muscle and biceps.
  • the exoskeleton is calibrated to obtain a set of basic movements performed by the user for each type of movement according to the training program, which are stored in the exoskeleton memory.
  • a user with an exoskeleton of the corresponding (upper or lower extremities) attached to it makes 5-7 repetitions of each movement, which will be performed from a set of movements according to the training program.
  • the registered EMG signals are amplified in the biomplifier, and then enters the processing unit, in which the EMG signal is converted into an amplitude-time characteristic, which has corresponding values for each type of movement, while in the processing unit each the type of movement is divided into several successive phases of movement (movements from one phase refer to simple (one-phase) movements), while each phase of movement is an amplitude-time characteristic, on the basis of which the corresponding set (number) of active and inactive muscles for each phase is determined ...
  • the following values of the amplitude-time characteristic are determined: the average duration of the phase and the average level of tension of active muscles during the phase of movement (which makes it possible to more accurately determine the various phases of movement).
  • the division into phases of movement is carried out on the basis of a constant set of active and inactive muscles over time, the sequence of changes in the set of active and inactive muscles determines the sequence of phases of movement for each type of movement performed by the user.
  • the walking movement in the processing block is divided into the following phases: pushing off the leading leg, moving the leading leg, setting the leading leg, lifting the second leg, pulling the second leg, setting the second leg, and, for example, lifting the cup
  • in the block processing is divided into the following phases: gripping the cup and lifting the cup.
  • some complex movements consist of one phase, for example, flexion of a toe or leg.
  • the processing unit determines that the current movement consists of one phase.
  • the exoskeleton's spatial movements are stored in the memory of the exoskeleton.
  • the user on the screen selects the required type of movement from a set of movements according to the training program and starts the movement of the selected type of movement, while during the movement performed by the user, the EMG signal is recorded to contract the active muscles of the corresponding (upper or lower) extremities;
  • the registered EMG signal is sent for processing to the processing unit, where, based on the processing of the EMG signal, the current phase of the movement performed by the user is determined.
  • the EMG signal is converted into an amplitude-time a characteristic, on the basis of which a set of active and inactive muscles is determined, corresponding to the current phase of movement of the exoskeleton. Additionally, on the basis of the amplitude-time characteristic, the following values are determined: the average duration of the phase and the average level of tension of active muscles during the movement phase.
  • the processing unit compares the determined current phase of movement performed by the user with at least one basic phase of movement to determine the type of movement performed by the user. Based on the coincidence of the current phase and the basic phase, the type of movement performed by the user is determined based on the current phase of movement, which corresponds to the basic phase of movement from the saved set of basic movements of the exoskeleton. Comparison of the current phase and the basic phase of movements also makes it possible to distinguish between different types of movement performed by the user with the exoskeleton attached to it.
  • the microcontroller sends a signal to the control mechanisms of the exoskeleton of the corresponding (upper or lower) limbs for the exoskeleton to support the user when performing a certain current phase of movement from the selected type of complex movement according to the training program (the exoskeleton is in passive mode) ... If a certain current phase of movement does not coincide with the basic phase of movement, the exoskeleton performs the corresponding current basic phase of movement for the user, while the exoskeleton switches to the assistive mode. After the end of the execution of the exoskeleton for the user corresponding to a certain current phase of movement, the exoskeleton goes into passive mode.
  • the above-described sequence of operations of the control method namely: registration of the EMG signal, processing the EMG signal, comparing a certain current phase of movement, sending a signal to the control mechanisms of the exoskeleton and performing the next phase of movement by the user is repeated until the end of the final phase of movement of the selected type of movement performed user. If the selected movement type according to the training program consists of one phase, then the current movement phase is the final phase of the movement for the selected movement type according to the training program.
  • the sequence of operations of the control method described above namely: the user selects the next required type of movement from a set of movements according to the training program and the implementation of the beginning of the movement of the selected type, the movement, registration of the EMG signal, processing the EMG signal, comparing a certain current phase of movement, sending a signal to the control mechanisms before completing the training program.
  • each basic phase performed by the user is determined during the registration and processing of the EMG signal on the basis of 5-7 repetitions performed by the user of at least two different types of movement, having at least one the same phase of movement.
  • the above types of movements in the processing unit are divided into identical phases (grasping an object and lifting it), according to the different value of the amplitude-time characteristic - the change in the tension level of active muscles during the movement phase is determined by the type of movement (lifting sugar bowls or raising a cup), because lifting these objects requires a different effort, therefore, a different level of tension of active muscles during the phase of movement, while this level increases with increasing weight of the object, i.e. the above additional amplitude-time characteristic allows us to distinguish between different types of movement from each other, including from the phase of movement where differences are observed (raising a sugar bowl or raising a cup).
  • Amplitude-temporal characteristic - the change in the level of tension of active muscles during the phase of movement is not limited to the ability to recognize movements with the same phase of movement, because allows you to recognize any movements of the upper or lower extremities in addition to or instead of amplitude-temporal characteristics: a set of active and inactive muscles for each phase, the average duration of the phase and the average level of tension of active muscles during the movement phase.
  • the calculated (baseline) and current amplitude-time characteristics are displayed on the screen for the user, which allows the subject to analyze the correctness of the current phase of movement.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne des procédés de commande d'un exosquelette des extrémités supérieures ou inférieures sur la base du traitement de signaux EMG lors de la contraction des muscles. Ce procédé de commande comprend les étapes suivantes: a) étalonnage de l'exosquelette des extrémités supérieures ou inférieures afin d'obtenir un ensemble de mouvements de base, pour chaque type de mouvement en fonction d'un programme d'entraînement, chaque type de mouvement de base se caractérisant par au moins une phase de mouvement que l'on détermine lors de l'enregistrement et du traitement du signal EMG, et chaque phase de mouvement se caractérisant par les valeurs suivantes des caractéristiques d'amplitude-temps; b) choix par l'utilisateur du type nécessaire de mouvement dans l'ensemble de mouvements; c) enregistrement du signal EMG lors de la contraction des muscles actifs ou des extrémités inférieures de l'utilisateur; d) traitement du signal EMG afin de déterminer la phase courante du mouvement; e) comparaison de la phase courante déterminée du mouvement; f) envoi du signal à des mécanismes de commande de l'exosquelette des extrémités supérieures ou inférieures afin de soutenir l'utilisateur avec l'exosquelette lors de l'exécution d'une phase courante déterminée du mouvement coïncidant avec la phase de base du mouvement; g) exécution par l'utilisateur de la phase suivante de mouvement en fonction du type de mouvement choisi; h) répétition des étapes c) - f) jusqu'à la fin de la phase finale de mouvement du type choisi de mouvement réalisé par l'utilisateur; i) répétition des étapes b) - h) jusqu'à la fin de l'exécution du programme d'entraînement. Cette invention permet d'augmenter l'efficacité d'identification d'un mouvement complexe.
PCT/RU2019/000698 2019-10-02 2019-10-02 Procédé d'identification de phases de mouvement complexe sur la base du traitement d'un signal emg WO2021066670A1 (fr)

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PCT/RU2019/000698 WO2021066670A1 (fr) 2019-10-02 2019-10-02 Procédé d'identification de phases de mouvement complexe sur la base du traitement d'un signal emg

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PCT/RU2019/000698 WO2021066670A1 (fr) 2019-10-02 2019-10-02 Procédé d'identification de phases de mouvement complexe sur la base du traitement d'un signal emg

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7396337B2 (en) * 2002-11-21 2008-07-08 Massachusetts Institute Of Technology Powered orthotic device
RU2344803C2 (ru) * 2004-03-11 2009-01-27 Юниверсити Оф Цукуба Устройство помощи движению носимого типа, устройство калибровки устройства помощи движению носимого типа и программа калибровки
US20160058647A1 (en) * 2014-08-29 2016-03-03 Conor J. MADDRY Pneumatic electromyographic exoskeleton
RU2644294C1 (ru) * 2017-04-24 2018-02-08 Общество с ограниченной ответственностью "Открытые решения" Устройство управления нейрореабилитационным тренажером верхней конечности человека
US20190059774A1 (en) * 2017-08-30 2019-02-28 Lockheed Martin Corporation Automatic sensor selection

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7396337B2 (en) * 2002-11-21 2008-07-08 Massachusetts Institute Of Technology Powered orthotic device
RU2344803C2 (ru) * 2004-03-11 2009-01-27 Юниверсити Оф Цукуба Устройство помощи движению носимого типа, устройство калибровки устройства помощи движению носимого типа и программа калибровки
US20160058647A1 (en) * 2014-08-29 2016-03-03 Conor J. MADDRY Pneumatic electromyographic exoskeleton
RU2644294C1 (ru) * 2017-04-24 2018-02-08 Общество с ограниченной ответственностью "Открытые решения" Устройство управления нейрореабилитационным тренажером верхней конечности человека
US20190059774A1 (en) * 2017-08-30 2019-02-28 Lockheed Martin Corporation Automatic sensor selection

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