阅读说明：本技术 一种运动信号检测和外骨骼系统控制信号生成的方法 (Method for detecting motion signal and generating exoskeleton system control signal ) 是由 陈轶 张文 牛少彰 崔浩亮 王让定 于 2020-12-14 设计创作，主要内容包括：本发明提供了一种运动信号检测和外骨骼系统控制信号生成的方法,所述系统包括用于检测脊髓损伤平面近脑端的下行运动神经信号的检测电极、信号处理器、电极驱动器、伺服电机及关节摆动件；所述方法包括以下步骤：在脊髓损伤平面近脑端施加表面检测电极,信号处理器将检测到的信号进行放大、滤波和识别,然后控制电极驱动器中的电机带动相关关节转动至设定角度,从而实现肢体运动功能重建。本发明提供的一种运动信号检测和外骨骼系统控制信号生成的方法,可以在避免开颅的情况下检测神经信号,并通过对外骨骼系统中电机以编程的方式驱动肢体运动,且在实现的难易程度和准确性上电机控制相比于电刺激方法更具有优势。(The invention provides a method for detecting a motion signal and generating a control signal of an exoskeleton system, wherein the system comprises a detection electrode, a signal processor, an electrode driver, a servo motor and a joint swinging piece, wherein the detection electrode is used for detecting a descending motion nerve signal at the brain-proximal end of a spinal cord injury plane; the method comprises the following steps: applying a surface detection electrode at the near brain end of a spinal cord injury plane, amplifying, filtering and identifying the detected signal by a signal processor, and then controlling a motor in an electrode driver to drive a relevant joint to rotate to a set angle so as to realize limb movement function reconstruction. The method for detecting the motion signal and generating the control signal of the exoskeleton system can detect the neural signal under the condition of avoiding craniotomy, drives the limb to move in a programming mode through the motor in the exoskeleton system, and has more advantages compared with an electrical stimulation method in the aspects of difficulty and accuracy of realization.)

1. A method for detecting a motion signal and generating a control signal of an exoskeleton system is characterized in that the system comprises a detection electrode, a signal processor, an electrode driver, a servo motor and a joint swinging piece, wherein the detection electrode is used for detecting a descending motion nerve signal at the brain-proximal end of a spinal cord injury plane;

the method comprises the following steps: applying a surface detection electrode at the near brain end of a spinal cord injury plane, amplifying, filtering and identifying the detected signal by a signal processor, and then controlling a motor in an electrode driver to drive a relevant joint to rotate to a set angle so as to realize limb movement function reconstruction.

2. The method of claim 1 wherein the signal processor is capable of classifying the signals and encoding the results for transmission to the exoskeleton system.

Technical Field

The invention relates to the field of spinal cord injury recovery, in particular to a method for detecting a motion signal and generating a control signal of an exoskeleton system.

Background

Spinal cord injury is a trauma to the central nervous system and is one of the major causes of disability in humans. The scholars try to achieve the aim of curing the spinal cord injury by stem cell transplantation, bionic scaffold materials, nerve growth inhibition factor elimination and other methods. Although some results are achieved, there are many disadvantages and technical difficulties in treatment, and it is difficult to connect the two ends of the damaged nerve fiber. Recently, a research group led by professor gregoire Courtine, zurich, switzerland implanted recording electrodes into the brain of the macaque to extract and decode signals related to leg movements, and then controlled the macaque to walk in gait in the form of electrical spinal cord surface stimulation. However, this experiment has the following problems: the electroencephalogram signal acquisition needs to implant electrodes into the cortex, which can cause unnecessary damage to the cortex. The correspondence between the parameters of the electrical stimulation waveform and the angle of flexion of the joint is difficult to control accurately.

Disclosure of Invention

In order to solve the problems in the background art, the present invention provides a method for detecting a motion signal and generating a control signal for an exoskeleton system, which can detect a neural signal without craniotomy, drive a limb to move in a programming manner by a motor in the exoskeleton system, and provide advantages for controlling an electric motor over an electrical stimulation method in terms of difficulty and accuracy in implementation.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

a method for detecting a motion signal and generating a control signal of an exoskeleton system comprises a detection electrode, a signal processor, an electrode driver, a servo motor and a joint swinging piece, wherein the detection electrode is used for detecting a descending motor nerve signal at the brain-proximal end of a spinal cord injury plane;

the method comprises the following steps: applying a surface detection electrode at the near brain end of a spinal cord injury plane, amplifying, filtering and identifying the detected signal by a signal processor, and then controlling a motor in an electrode driver to drive a relevant joint to rotate to a set angle so as to realize limb movement function reconstruction.

As an improvement, the signal processor can classify the signals and encode the results for transmission to the exoskeleton system.

The invention has the beneficial effects that:

the invention uses the detection electrode to collect the damaged proximal encephalic spinal cord nerve signal, controls the motor of the exoskeleton system to rotate after the method, the filtering and the classification, and drives the limb to carry out the corresponding movement. Therefore, the invention can detect the neural signals under the condition of avoiding craniotomy, drives the limb to move in a programming mode through the motor in the exoskeleton system, and has more advantages compared with an electrical stimulation method in the aspects of difficulty and accuracy of realization.

Drawings

FIG. 1 is a functional block diagram of the present invention;

FIG. 2 is a schematic diagram of an amplifying and filtering circuit according to the present invention.

Detailed Description

The invention is illustrated below by means of specific examples, without being restricted thereto.

1-2, a method of motion signal detection and exoskeleton system control signal generation, the system comprising detection electrodes for detecting descending motor nerve signals near the brain end of a spinal cord injury plane, a signal processor, an electrode driver, a servo motor and a joint pendulous member; the method comprises the following steps: applying a surface detection electrode at the near brain end of a spinal cord injury plane, amplifying, filtering and identifying the detected signal by a signal processor, and then controlling a motor in an electrode driver to drive a relevant joint to rotate to a set angle so as to realize limb movement function reconstruction. The signal processor can classify the signals and encode the results for transmission to the exoskeleton system.

The working principle is as follows:

applying surface detection electrodes at the near brain end of the spinal nerve injury part, amplifying, filtering and classifying the detected motor nerve signals, and then coding and transmitting the classified result to the exoskeleton system. The exoskeleton system decodes the signals and then rotates the motor by a corresponding angle according to the compiled program to drive the exoskeleton limbs to move, so that the function of the paralyzed limbs is rebuilt.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.