基于ADRC的多电极协同上肢康复运动控制方法  

Multi-electrode Coordinated Upper Limb Rehabilitation Motion Control Method Based on ADRC

作　　者：霍本岩 王亚楠[1] 张赞[1] 董安琴 刘艳红[1] HUO Benyan;WANG Yanan;ZHANG Zan;DONG Anqin;LIU Yanhong(School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China;The Fifth Affiliated Hospital,Zhengzhou University,Zhengzhou 450000,China)

机构地区：[1]郑州大学电气与信息工程学院,河南郑州450001 [2]郑州大学第五附属医院,河南郑州450000

出　　处：《郑州大学学报(工学版)》2025年第2期1-10,18,共11页Journal of Zhengzhou University(Engineering Science)

基　　金：国家自然科学基金资助项目(62103376);国家重点研发计划(2022YFB4703203);河南省科技攻关项目(242102311246)。

摘　　要：功能性电刺激(FES)是重要的卒中致残康复治疗方法,而现有的功能性电刺激设备多使用单对表面电极对肌肉施加刺激,难以在肢体运动过程中精确定位最佳刺激位置,同时,受内外干扰的影响,康复运动控制精度有待提高。为此,提出了一种基于自抗扰控制(ADRC)的多电极协同控制方法。首先,设计了一套用于上肢康复的多电极功能性电刺激系统;其次,通过分析上肢的动力学模型确定电极切换策略,在角度跟踪过程中根据角度区间动态调整电极组合,实现对最佳刺激位置的跟踪;再次,引入ADRC作为控制器实时估计和补偿系统的扰动;最后,招募健康受试者,开展仿真和实验验证。结果表明:所提出的控制方法实现了对上肢运动的精确控制,与固定电极策略的控制方法相比,平均跟踪误差均值降低了约50.41%,均方差降低了约43.30%。此外,受试者肌电信号分析结果表明:采用电极切换策略的肌电信号与固定电极策略相比,振幅平均绝对值MAV和中值频率MF分别减少了约40.21%、17.97%,肌肉疲劳得到了一定的缓解。Functional electrical stimulation(FES)was an important rehabilitation treatment for stroke-induced disabilities.However,existing FES devices primarily used single-pair surface electrodes to stimulate muscles,making it difficult to precisely locate the optimal stimulation position during limb movements.Additionally,the accuracy of rehabilitation movement control could be affected by internal and external disturbances.To achieve precise control of upper limb movements.A multi-electrode coordinated control method based on active disturbance rejection control(ADRC)was proposed in this study.First,a multi-electrode functional electrical stimulation system for upper limb rehabilitation was designed.Next,an electrode switching strategy was determined by analyzing the dynamics model of the upper limb,dynamically adjusting the electrode combination according to the angle range during angle tracking to track the optimal stimulation position.Subsequently,ADRC was introduced as the controller to estimate and compensate for system disturbances in real-time.Finally,healthy subjects were recruited for simulations and experimental validation.The results showed that the proposed control method achieved precise control of upper limb movements.Compared with the fixed electrode strategy,the average tracking error was reduced by approximately 50.41%,and the root mean square error was reduced by approximately 43.30%.Furthermore,analysis of the subjects′electromyographic signals indicated that the electrode switching strategy reduced mean absolute value MAV and median frequency MF by approximately 44.21%and 17.97%,respectively,while mitigating muscle fatigue.

关 键 词：功能性电刺激 多电极切换策略 上肢康复系统 电极阵列 自抗扰控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]