CN-121999971-A - Ankle joint orthopedic rehabilitation exoskeleton gait optimization method based on brain-computer interface

CN121999971ACN 121999971 ACN121999971 ACN 121999971ACN-121999971-A

Abstract

The invention discloses an ankle joint orthopaedics rehabilitation exoskeleton gait optimization method based on a brain-computer interface, which relates to the technical field of intelligent wearable equipment and comprises the following steps of establishing a unified time base line by executing feedback signals around an electroencephalogram synchronous rhythm signal and an exoskeleton, expanding a double time sequence comparison belt on the unified time base line, and internally marking a frequency difference initial segment in the double time sequence comparison belt so that the double time sequence comparison belt has starting point information for subsequent frequency difference marking. According to the invention, by aligning electroencephalogram and mechanical feedback signals through a unified time base line, combining phase anchor point columns and frequency difference textures, realizing controllable energy adjustment, dispersing the frequency difference energy by depending on a vibration suppression buffer ring and an opposite-phase traction chain, and dynamically discharging the resonance energy by using respiratory peak staggering driving, thereby stabilizing gait output, reducing moment fluctuation and realizing man-machine gait synchronization and safe rehabilitation training.

Inventors

LI XIAO
LI JIAHANG
SHI XIUXIU
CUI CHENGWEN
DENG YONGPING

Assignees

中国人民解放军总医院第四医学中心

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (10)

1. An ankle joint orthopaedics rehabilitation exoskeleton gait optimization method based on a brain-computer interface is characterized by comprising the following steps: S001, a unified time base line is established around the electroencephalogram synchronous rhythm signal and the exoskeleton for executing feedback signals, a double time sequence comparison band is unfolded on the unified time base line, and a frequency difference initial segment is defined in the double time sequence comparison band, so that the double time sequence comparison band is provided with starting point information for subsequent frequency difference marking; S002, paving continuous phase anchor point columns along a unified time base line based on the frequency difference initial segments in the double-time sequence comparison band, fixing two ends of the frequency difference initial segments in the phase anchor point columns, and extracting continuous time interval and amplitude order information in the phase anchor point columns to enable the phase anchor point columns to be provided with frequency difference long textures for constructing a buffer structure; S003, generating a vibration suppression buffer ring on the outer edge of a uniform time base line by depending on frequency difference long textures in the phase anchor point column, and arranging the vibration suppression buffer ring closely to the phase anchor point column, so that the vibration suppression buffer ring forms a vibration suppression corridor with an energy release gap, and a continuous path is provided for phase traction; S004, arranging an inverted micro-traction chain along the vibration suppression corridor, towing the phase in the vibration suppression corridor segment by the inverted micro-traction chain, dismantling the frequency difference in the double-time sequence comparison belt along the direction of the inverted micro-traction chain, and generating a residual frequency difference ridge line for final energy blocking; S005, introducing respiratory time base line peak shifting driving around the residual frequency difference ridge line, and rotating a silence window and a stress application window at the ankle joint driving end according to the respiratory time rhythm, so that the residual frequency difference ridge line energy cannot be accumulated, and finishing the dynamic suppression of nonlinear resonance on the uniform time base line to form a closed-loop gait control process.
2. The method for optimizing gait of ankle joint orthopedic rehabilitation exoskeleton based on brain-computer interface as claimed in claim 1, wherein step S001 comprises: When a uniform time base line is established, performing time domain sampling normalization processing on an electroencephalogram synchronous rhythm signal and an exoskeleton, realizing uniform time interval resampling through time interpolation matching, and setting a zero time reference point to form initial alignment of the base line; after the base lines are aligned, a double time sequence comparison band is unfolded, and window-by-window sliding mapping is carried out by adopting a symmetrical time window expansion mode, so that a comparison layer containing rhythm similarity and feedback lag information is formed; after the control band is formed, an initial segment of the frequency difference is defined according to the relative offset of the brain rhythm fluctuation and the execution feedback response, and the starting point time information of the initial segment is recorded; After the frequency difference segment is marked, a labeling sequence under a unified time base line is established by utilizing time and phase information, and continuous frequency difference labeling of the electroencephalogram signal and the execution feedback signal is realized.
3. The method for optimizing gait of ankle joint orthopedic rehabilitation exoskeleton based on brain-computer interface according to claim 2, wherein step S002 comprises: after the establishment of the unified time base line is completed, paving continuous phase anchor point columns along the unified time base line based on the frequency difference initial segments in the double-time sequence comparison band, and taking the frequency difference starting point and the end point as constraint boundaries; After the paving is finished, smoothing the phase anchor point columns according to the time sequence to ensure that the phase change curves between adjacent anchor points are continuous; after the smoothing process is completed, extracting continuous time interval and amplitude order information according to the time interval and phase amplitude change between anchor points and mapping the continuous time interval and the amplitude order information into two-dimensional distribution textures; After extraction is completed, the continuous time interval and amplitude order information are interpolated along a uniform time base line to form a frequency difference long texture, and a time reference basis is provided for generating a subsequent vibration suppression buffer structure.
4. The ankle joint orthopedic rehabilitation exoskeleton gait optimization method based on the brain-computer interface according to claim 3, wherein when the frequency difference long textures are formed, the frequency difference increasing strength is determined through the distribution density and the phase change rate of the phase anchor point columns, and the frequency difference energy density is used as interpolation weight, so that the frequency difference long textures form a continuous stripe structure on a time base line, and the visual distribution and the time domain evolution tracking of the frequency difference energy are realized.
5. The method for optimizing gait of ankle joint orthopedic rehabilitation exoskeleton based on brain-computer interface as claimed in claim 3, wherein step S003 comprises: after the frequency difference long textures are formed, determining the generation range of the vibration suppression buffer ring along the outer edge of the uniform time base line, and taking the time position and amplitude order information of the phase anchor points as layout basis; after the generation range is determined, sequentially generating vibration suppression buffer ring structures along the time sequence of the phase anchor point columns, and adjusting the lengths of the buffer ring segments according to the phase change rate so as to keep continuity; after the buffer ring is formed, an energy discharge gap is built in the buffer ring, and the energy discharge gap is unevenly divided according to the phase energy density distribution so as to realize energy diffusion; after the arrangement of the energy discharge gap is completed, the vibration suppression buffer ring is closely attached to the phase anchor point row and introduces time displacement compensation to form a vibration suppression corridor with the energy discharge gap.
6. The method for optimizing gait of ankle joint orthopedic rehabilitation exoskeleton based on a brain-computer interface according to claim 5, wherein time displacement compensation is arranged between the vibration suppression buffer ring and the phase anchor point row, so that the center line of the vibration suppression buffer ring keeps lagging relative to the phase anchor point row, thereby forming an energy flow gradient, and enabling the frequency difference signal to be gradually absorbed and spread along the outer edge when passing through the vibration suppression corridor, so as to improve energy release efficiency and stabilize gait control process.
7. The method for optimizing gait of ankle joint orthopedic rehabilitation exoskeleton based on brain-computer interface as claimed in claim 5, wherein step S004 comprises: After the vibration suppression buffer ring is formed, arranging opposite-phase micro traction chains along the energy discharge gaps of the vibration suppression corridor according to time sequence, and enabling the phase direction of each traction chain to be opposite to the main phase direction of the vibration suppression corridor; after the reverse micro-traction chain is arranged, dynamically balancing the traction pitch and the traction strength, so that the traction force of the traction chain is adaptively adjusted in different energy sections; after trimming is completed, performing segment-by-segment phase traction operation to diffuse phase energy in the vibration suppression corridor along a traction direction; After the segment-by-segment traction is completed, the energy flow is converged, and a residual frequency difference ridge line is formed near the center line of the vibration suppression corridor and is connected with the edge of the buffer ring.
8. The method for optimizing the gait of the ankle joint orthopedic rehabilitation exoskeleton based on the brain-computer interface according to claim 7, wherein the arrangement of the reverse micro traction chains in the vibration suppression corridor is synchronously adjusted according to the distribution density of the energy release gaps, so that the traction chains form dense distribution in a high-energy area to enhance the energy dismantling efficiency, and form sparse distribution in a low-energy area to keep the phase transition stable, thereby realizing uniform diffusion and stable conduction of frequency difference energy on a time base line.
9. The method for optimizing gait of an ankle joint orthopedic rehabilitation exoskeleton based on a brain-computer interface as claimed in claim 7, wherein step S005 comprises: after the residual frequency difference ridge line is formed, establishing a respiratory time base line rhythm mapping, and dividing an energy absorption stage and an energy release stage according to an energy distribution rule so as to correspond to a silence window and an stress application window; After the respiratory time base line is established, introducing the respiratory time base line into an ankle joint driving end control time sequence, and realizing periodic release of energy through rotation of a silence window and a stress application window; in the rotation process, respiratory peak shifting adjustment is carried out on the phase response of the driving end, so that the control rhythm forms rhythmic phase drift; After the respiratory time base line peak staggering driving operation, the energy suppression effect is verified through closed loop feedback, and gait control stability is realized.
10. The method for optimizing the gait of the ankle joint orthopedic rehabilitation exoskeleton based on the brain-computer interface according to claim 9, wherein in the respiratory time base line peak-staggering driving process, phase delay is introduced at the tail of a silence window, phase advance is introduced at the tail of a stress application window, and the phase of the driving end forms a waveform structure with earlier lag and later lead in a complete respiratory cycle, so that dynamic phase balance between an electroencephalogram synchronous rhythm signal and an exoskeleton execution feedback signal is realized, and gait output is further stabilized.

Description

Ankle joint orthopedic rehabilitation exoskeleton gait optimization method based on brain-computer interface Technical Field The invention relates to the technical field of intelligent wearable equipment, in particular to an ankle joint orthopedic rehabilitation exoskeleton gait optimization method based on a brain-computer interface. Background The ankle joint orthopaedics rehabilitation exoskeleton gait optimization based on the brain-computer interface is characterized in that brain movement intention signals of a patient are acquired by using the brain-computer interface, the mechanical characteristics of lower limbs, electromyographic signals and gait changes are sensed in real time through an intelligent sensing system, and the intention and the sensed data are fused and converted into movement instructions capable of controlling the ankle joint rehabilitation exoskeleton, so that the exoskeleton participates in gait training according to the real autonomous intention of the patient. The system automatically adjusts the joint angle, stride, support phase and swing phase proportion in the training process by combining the information such as gait cycle, ankle plantarflexion and dorsiflexion activity rules and the like, so that accurate gait optimization meeting individual rehabilitation requirements is realized. The method can enable patients with orthopaedics operation, muscle strength deficiency or gait abnormality to complete more natural, more continuous and more similar walking training in a normal physiological mode under the cooperative assistance of the exoskeleton and the intelligent sensing system, and simultaneously promote reconstruction of a brain-ankle joint movement loop through nerve intention driving, improve rehabilitation efficiency and reduce secondary injury risk caused by uncoordinated gait. The prior art has the defect that the lower limb exoskeleton based on brain-computer interface control mainly relies on synchronous coupling between brain-electrical signal rhythm and mechanical execution feedback to realize translation of movement intention and gait regulation in the gait training stage. However, in the fast gait adjustment phase, since the brain synchronization rhythm fluctuates unstably, and the exoskeleton performs feedback with a fixed delay characteristic, both are very prone to form a fixed frequency difference in the time domain. When the frequency difference is continuously present and is overlapped with the feedback response period in the control loop, the system enters a nonlinear resonance state, so that the energy in the control loop is accumulated and is periodically amplified along the joint driving chain, and an irregular jitter phenomenon is generated. Such shaking can cause the exoskeleton to output a moment exceeding a physiological tolerance range in a short time, and damage the flexible support balance of the ankle joint, so that serious consequences such as soft tissue tearing, tendon sheath strain and even ankle joint dislocation are caused. The above information disclosed in the background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to a person of ordinary skill in the art. Disclosure of Invention The invention aims to provide an ankle joint orthopedic rehabilitation exoskeleton gait optimization method based on a brain-computer interface, which aims to solve the problems in the background technology. In order to achieve the above object, the present invention provides the following technical solutions: An ankle joint orthopaedics rehabilitation exoskeleton gait optimization method based on a brain-computer interface comprises the following steps: S001, a unified time base line is established around the electroencephalogram synchronous rhythm signal and the exoskeleton for executing feedback signals, a double time sequence comparison band is unfolded on the unified time base line, and a frequency difference initial segment is defined in the double time sequence comparison band, so that the double time sequence comparison band is provided with starting point information for subsequent frequency difference marking; S002, paving continuous phase anchor point columns along a unified time base line based on the frequency difference initial segments in the double-time sequence comparison band, fixing two ends of the frequency difference initial segments in the phase anchor point columns, and extracting continuous time interval and amplitude order information in the phase anchor point columns to enable the phase anchor point columns to be provided with frequency difference long textures for constructing a buffer structure; S003, generating a vibration suppression buffer ring on the outer edge of a uniform time base line by depending on frequency difference long textures in the phase anchor point column, and arranging the vibr