Title:
WRIST REHABILITATION TRAINING SYSTEM BASED ON MUSCLE SYNERGY AND VARIABLE STIFFNESS IMPEDANCE CONTROL
Document Type and Number:
WIPO Patent Application WO/2023/206833
Kind Code:
A1
Abstract:
Disclosed in the present invention is a wrist rehabilitation training system based on muscle synergy and variable stiffness impedance control. Said system comprises the following modules: an electromyographic signal acquisition and preprocessing module, a muscle synergy decomposition and mapping model acquisition module, a human-computer interaction control module and a virtual reality serious game module. In the system, an electromyographic signal on the surface of a forearm of a user is collected, a non-negative matrix factorization method is used for acquiring time domain synergy, a position and stiffness estimation model is established, and movement of a target in a serious game is controlled by means of a variable stiffness impedance control mode to complete a training task. The system uses muscle synergy decomposition and a multi-layer perception model to improve the accuracy of estimating electromyographic signals and joint angles. A variable impedance control policy is used, so that the user can adjust the activation of the wrist muscles according to environmental interference, thus changing wrist stiffness. The enthusiasm of the user in participating in rehabilitation training is improved by means of a serious game, and the rehabilitation training efficiency is improved.
Inventors:
ZENG HONG (CN)
DUAN YINXIN (CN)
LI XIAO (CN)
CHEN QINGQING (CN)
SONG AIGUO (CN)
DUAN YINXIN (CN)
LI XIAO (CN)
CHEN QINGQING (CN)
SONG AIGUO (CN)
Application Number:
PCT/CN2022/107560
Publication Date:
November 02, 2023
Filing Date:
July 25, 2022
Export Citation:
Assignee:
UNIV SOUTHEAST (CN)
International Classes:
G16H20/30; A61B5/397; G06F3/01
Foreign References:
| CN109243572A | 2019-01-18 | |||
| CN111243706A | 2020-06-05 | |||
| CN110400619A | 2019-11-01 | |||
| CN110675933A | 2020-01-10 |
Attorney, Agent or Firm:
NANJING ZHONGLIAN PATENT AGENCY CO., LTD. (CN)
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