Research On Wrist Functional Electrical Stimulation In Rehabilitation Robot System Based On Array Electrode

In recent years,with the development of medical rehabilitation equipment,the application of Rehabilitation robot in the field of medical has gradually increased. Based on clinical medical theory, it supports body parts by using of external mechanical structure,which helps persons to experience limb movements at the paretic side to improve sensory-motor functions during limb movements. With the development of brain science and neural science, the application of functional electrical stimulation has gradually increased, it is used in the rehabilitation of patients,which generates limb movements by activating a person's muscles with adjustment the amplitude and frequency of stimulus pulse to stimulate the patients related nerve or muscleand,and also evokes sensory feedback during muscle contraction to the brain to promote motor relearning. The combination of rehabilitation robot and functional electrical stimulation system is a new research field in recent years, the two part combined with their respective advantages,provides patients with comprehensive and efficient motor function rehabilitation.This paper combining physical rehabilitation and functional electrical stimulation rehabilitation, in the wrist, on the basis of rehabilitation robot system, develop a functional electrical stimulation and multi-channel array electrodes of functional electrical stimulation system. Wrist rehabilitation robot system takes pneumatic muscles as driver for wrist flexion/extension and motor as driver for wrist abduction/adduction. Stimulator adopts STM32F103 as the main controller, through the buttons adjust the output voltage of DAC, to control the current of the stimulator output,using PWM pulse width modulation technology, adjust the exciting frequency of stimulator. Electrode array system uses STM32F103 as the controller, by the optocoupler electronic switch to control the on-off of the stimulus channel, with the given input of the stimulator,we can choose the each stimulation sites by computer.Finally,the hardware system is tested by adjust the amplitude and frequency of the stimulator output current,switch with the electrode array system to realize the function of site selection and stimulation mode. The test results showed that electrical stimulation system by application program in PC control array electrode selection, adjust the stimulation parameter, in order to achieve safe and efficient stimulation effect.