Design And Implementation Of Hand Rehabilitation System Based On Functional Electrical Stimulation

Stroke is a disease characterised by high morbidity,disability and mortality,which poses a serious threat to human life and health.Stroke can cause varying degrees of motor dysfunction,especially loss of hand motor function,which seriously affects the patient’s normal work and life.In recent years,more and more rehabilitation equipment has been used in the rehabilitation of stroke patients,but the existing hand rehabilitation equipment generally has the disadvantages of being difficult to carry,limited in use scenarios and having a single training method,and the rehabilitation needs of most patients are not well met.Functional electrical stimulation is an effective rehabilitation method that works on both muscles and nerves and can rebuild the function of the patient’s motor nerve centre and restore motor ability.This thesis addresses the characteristics of hand rehabilitation,builds a hand rehabilitation system with portable,easyto-operate and multi-electrode features based on functional electrical stimulation technology,and designs a control method for hand joint movements,which can help patients to carry out effective hand motor function rehabilitation training and restore basic motor functions.The main contents of this thesis include the following.(1)The hardware platform and software system of the hand rehabilitation system have been developed.A wearable electrode array and an electrical stimulator with multiple independent channels have been designed to suit the number of muscles,joints and flexible movements involved in hand rehabilitation training.The Kinect depth camera sensor is used to capture hand motion information,obtain hand bone data and calculate it as joint angle information.Wireless data transmission between the various parts of the hardware platform has been established and a human-machine interface has been designed.The rehabilitation parameters can be set and rehabilitation functions selected through the human-machine interface during use,and the control commands and joint angles generated during the rehabilitation process are also displayed in real time on the human-machine interface.(2)A simplified model of the hand system and a functional electrical stimulation control method are proposed.In order to reduce the complexity of the multi-electrode hand rehabilitation system model,a hand system model simplification method is proposed in order to reduce the complexity of the multi-electrode hand rehabilitation system model,and a relationship model between multi-electrodes and joint movements is established.In addition,an inverse model-based iterative learning control method was designed to ensure the accuracy of the rehabilitation training movements through the collaborative control of multiple electrodes.(3)A specific functional implementation and experimental analysis of the hand rehabilitation system designed in this thesis was carried out.Firstly,the threshold voltage test method was designed to address the characteristics of different patients with different threshold voltages;secondly,an electrode array input space optimisation analysis was carried out to compare the stimulation effects of different electrode combinations,and an electrode optimisation selection method was designed to match the desired joint motion with the corresponding stimulation electrodes;finally,the experimental validation of the control method is carried out for the desired motion of a specific joint,proving the effectiveness of the method and proposing control optimisation solutions for the shortcomings of the control method.